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diff --git a/processed/diffusion_policy/scene03_train_scene2_val_scene1_test/place_object_basket-stdb_cc_task-50.zarr/data/head_camera/92.0.0.0 b/processed/diffusion_policy/scene03_train_scene2_val_scene1_test/place_object_basket-stdb_cc_task-50.zarr/data/head_camera/92.0.0.0
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diff --git a/processed/diffusion_policy/scene03_train_scene2_val_scene1_test/place_object_basket-stdb_cc_task-50.zarr/data/head_camera/93.0.0.0 b/processed/diffusion_policy/scene03_train_scene2_val_scene1_test/place_object_basket-stdb_cc_task-50.zarr/data/head_camera/93.0.0.0
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diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode10.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..caff179ba247215ea4c77eabd5bbec620d7c1448
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Use the left arm to click the center button on the smooth black alarm-clock",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Use the left arm to press the black alarm-clock button",
+    "Press the rectangular alarm-clock's top button using the left arm",
+    "Press the center top button on the alarm-clock with digital display with the left arm",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Use the left arm to press the central button on the smooth black alarm-clock.",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Touch the small alarm-clock's button on the top side.",
+    "Push the top button of the black alarm-clock using the left arm",
+    "Use the left arm to tap the rectangular alarm-clock's top button center",
+    "Ensure the left arm clicks the top center button of the digital screen alarm-clock",
+    "Point the left arm to press the button of the alarm-clock with buttons on side.",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "Use the left arm to press the small alarm-clock's top button",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Use the left arm to tap the digital screen alarm-clock's central button.",
+    "Click the lightweight plastic alarm-clock's top center button using the left arm.",
+    "Touch the compact alarm-clock's center top button with the left arm",
+    "Click the center of the black matte alarm-clock's top",
+    "Click the top center button of the digital screen alarm-clock",
+    "Activate the black matte alarm-clock by pressing its top",
+    "the left arm activates the black alarm-clock by clicking the top button",
+    "Click the button centered on the compact alarm-clock.",
+    "Click the button centered on the smooth black alarm-clock's top.",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Direct the left arm to click the button found on the alarm-clock with digital display.",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "Use the left arm to tap the smooth black alarm-clock's top center button.",
+    "Use the left arm to click the top center button on the palm-sized alarm-clock.",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Activate the black alarm-clock by pressing the top button",
+    "the left arm presses the center top button on the digital screen alarm-clock",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Tap the rectangular alarm-clock's top button with the left arm",
+    "Push the top button on the compact alarm-clock",
+    "Guide the left arm to press the centered button on the smooth black alarm-clock.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "the left arm clicks the center top button on the alarm-clock with buttons on side",
+    "Use the left arm to press the center top of the alarm-clock with buttons on side",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Use the left arm to click the center button on the black alarm-clock",
+    "Use the left arm to click the top of the black alarm-clock",
+    "Press the center top button of the alarm-clock with digital display",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Press the top middle button of the alarm-clock with buttons on side",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Press the rectangular alarm-clock's top button using the left arm",
+    "Press the center top button on the small alarm-clock with the left arm",
+    "Press the top button in the black alarm-clock's center.",
+    "Push the center area of the alarm-clock with rounded edges's top",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "Use the left arm to tap the alarm-clock with buttons on side's top button center",
+    "Ensure the left arm clicks the top center button of the black matte alarm-clock",
+    "Point the left arm to press the button of the small alarm-clock.",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Use the left arm to activate the rectangular alarm-clock's button",
+    "Use the left arm to press the rectangular alarm-clock's top button",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Click the black alarm-clock's top center button using the left arm.",
+    "Touch the small alarm-clock's center top button with the left arm",
+    "Click the center of the small alarm-clock's top",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Click the button centered on the black alarm-clock.",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Direct the left arm to click the button found on the smooth black alarm-clock.",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Use the left arm to tap the rectangular alarm-clock's top center button.",
+    "Use the left arm to click the top center button on the small alarm-clock.",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Tap the black alarm-clock's top button with the left arm",
+    "Push the top button on the digital screen alarm-clock",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "the left arm clicks the center top button on the rectangular alarm-clock",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "Tap the center button on the smooth black alarm-clock."
+  ],
+  "unseen": [
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode11.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..62d3181bb3d196095e64c1b76157a87de8c77f2e
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the right arm clicks the center top button on the small alarm-clock",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Use the right arm to press the black matte alarm-clock's top button",
+    "Use the right arm to press the palm-sized alarm-clock's top center button.",
+    "Use the right arm to click the top center button on the alarm-clock with buttons on side.",
+    "Press the black matte alarm-clock's top button using the right arm",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Press the top button at the small alarm-clock's center.",
+    "the right arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Click the center of the rectangular alarm-clock's top",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Guide the right arm to press the centered button on the rectangular alarm-clock.",
+    "Press the center top button on the palm-sized alarm-clock with the right arm",
+    "Press the button on the black matte alarm-clock's top side",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Use the right arm to tap the alarm-clock with buttons on side's central button.",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "Use the right arm to activate the black alarm-clock's button",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Use the right arm to click the top of the rectangular alarm-clock",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Point the right arm to press the button of the lightweight plastic alarm-clock.",
+    "Push the top button on the small alarm-clock",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "the right arm presses the center top button on the digital screen alarm-clock",
+    "Press the top button in the black alarm-clock's center.",
+    "Tap the black alarm-clock's top button with the right arm",
+    "Use the right arm to click the center button on the alarm-clock with digital display",
+    "Click the top center button of the compact alarm-clock",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Use the right arm to tap the compact alarm-clock's top center button.",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Use the right arm to press the central button on the smooth black alarm-clock.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Push the top button of the small alarm-clock using the right arm",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Use the right arm to press the center top of the smooth black alarm-clock",
+    "Press the center top button of the smooth black alarm-clock",
+    "Press the center button on the black alarm-clock's top.",
+    "Ensure the right arm clicks the top center button of the rectangular alarm-clock",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Direct the right arm to click the button found on the small alarm-clock.",
+    "the right arm clicks the center top button on the alarm-clock with buttons on side",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Use the right arm to press the black alarm-clock's top button",
+    "Use the right arm to press the compact alarm-clock's top center button.",
+    "Use the right arm to click the top center button on the lightweight plastic alarm-clock.",
+    "Press the black alarm-clock's top button using the right arm",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "the right arm activates the digital screen alarm-clock by clicking the top button",
+    "Click the alarm-clock with buttons on side's top center button using the right arm.",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Push the button on the small alarm-clock's top center.",
+    "Guide the right arm to press the centered button on the small alarm-clock.",
+    "Press the center top button on the black alarm-clock with the right arm",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top button center",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Use the right arm to tap the smooth black alarm-clock's central button.",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Locate and press the alarm-clock with rounded edges's top center button",
+    "Use the right arm to activate the alarm-clock with buttons on side's button",
+    "Locate and press the top button on the compact alarm-clock",
+    "Use the right arm to click the top of the palm-sized alarm-clock",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Point the right arm to press the button of the rectangular alarm-clock.",
+    "Push the top button on the smooth black alarm-clock",
+    "Click the center button on the small alarm-clock's top side.",
+    "the right arm presses the center top button on the alarm-clock with buttons on side",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Tap the alarm-clock with rounded edges's top button with the right arm",
+    "Use the right arm to click the center button on the rectangular alarm-clock",
+    "Click the top center button of the rectangular alarm-clock",
+    "Use the right arm to press the smooth black alarm-clock button",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Use the right arm to tap the black matte alarm-clock's top center button.",
+    "Touch the black matte alarm-clock's center top button with the right arm",
+    "Push the central button on the black alarm-clock's top side.",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Use the right arm to press the central button on the alarm-clock with digital display.",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Push the top button of the palm-sized alarm-clock using the right arm",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Use the right arm to press the center top of the palm-sized alarm-clock",
+    "Press the center top button of the smooth black alarm-clock",
+    "Press the center button on the compact alarm-clock's top.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with buttons on side",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Direct the right arm to click the button found on the black alarm-clock."
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode12.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8bc75e0cbf37df5d3f4438ff3603df72988966e
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the button on the dark blue clock's top center.",
+    "Direct the right arm to click the button found on the clock with white dial.",
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "Push the central button on the square alarm clock's top side.",
+    "Use the right arm to activate the square alarm clock's button",
+    "Press the center top button of the alarm clock with green stripe",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Push the top button on the square plastic alarm clock",
+    "Use the right arm to tap the palm-sized dark blue clock's top center button.",
+    "Press the clock with black hands's top button using the right arm",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Tap the center button on the small clock with rounded edges.",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "Click the button centered on the clock with white dial.",
+    "Use the right arm to press the clock with black hands's top button",
+    "Push the top button of the square alarm clock using the right arm",
+    "Use the right arm to tap the alarm clock with green stripe's central button.",
+    "Click the small clock with rounded edges's top center button using the right arm.",
+    "Tap the button at the square alarm clock's top center.",
+    "Tap the rounded square-shaped alarm clock's top button with the right arm",
+    "Press the center button on the white-faced alarm clock's top.",
+    "Ensure the right arm clicks the top center button of the square alarm clock",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Press the button on the small clock with rounded edges's top side",
+    "Guide the right arm to press the centered button on the small plastic alarm clock.",
+    "Use the right arm to click the center button on the small clock with rounded edges",
+    "Use the right arm to press the small clock with rounded edges button",
+    "Hit the center of the dark blue clock's top button",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Use the right arm to tap the white-faced alarm clock's top button center",
+    "Press the center top button on the palm-sized dark blue clock with the right arm",
+    "Click the middle button on the dark blue clock's top side",
+    "Activate the rounded square-shaped alarm clock by clicking its top button",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "the right arm presses the center top button on the square plastic alarm clock",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Press the top button in the small plastic alarm clock's center.",
+    "Click the top center button of the dark blue clock",
+    "Use the right arm to press the center top of the blue clock with green stripe",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Locate and press the top button on the dark blue clock",
+    "Touch the white-faced alarm clock's center top button with the right arm",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Use the right arm to click the top of the alarm clock with green stripe",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Push the button on the square alarm clock's top center.",
+    "Direct the right arm to click the button found on the palm-sized dark blue clock.",
+    "Use the right arm to click the top center button on the small clock with rounded edges.",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Use the right arm to activate the dark blue clock's button",
+    "Press the center top button of the white-faced alarm clock",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Push the top button on the dark blue clock",
+    "Use the right arm to tap the palm-sized dark blue clock's top center button.",
+    "Press the square alarm clock's top button using the right arm",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Tap the center button on the white-faced alarm clock.",
+    "the right arm clicks the center top button on the square alarm clock",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Press the top middle button of the blue clock with green stripe",
+    "Click the button centered on the palm-sized dark blue clock.",
+    "Use the right arm to press the blue clock with green stripe's top button",
+    "Push the top button of the rounded square-shaped alarm clock using the right arm",
+    "Use the right arm to tap the white-faced alarm clock's central button.",
+    "Click the white-faced alarm clock's top center button using the right arm.",
+    "Tap the button at the dark blue clock's top center.",
+    "Tap the dark blue clock's top button with the right arm",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Ensure the right arm clicks the top center button of the rounded square-shaped alarm clock",
+    "Press the top button at the dark blue clock's center.",
+    "Press the button on the square alarm clock's top side",
+    "Guide the right arm to press the centered button on the clock with black hands.",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Use the right arm to press the blue clock with green stripe button",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Use the right arm to press the blue clock with green stripe's top center button.",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Press the center top button on the alarm clock with green stripe with the right arm",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Activate the clock with white dial by clicking its top button",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Activate the small plastic alarm clock by pressing its top",
+    "Use the right arm to press the central button on the clock with black hands.",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Use the right arm to press the center top of the small clock with rounded edges",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Touch the clock with black hands's center top button with the right arm",
+    "Touch the square alarm clock's button on the top side.",
+    "Use the right arm to click the top of the small plastic alarm clock",
+    "Click the center of the clock with white dial's top"
+  ],
+  "unseen": [
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode13.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..364a077da116608b2b0ca12e8645f213676f3780
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the top button on the alarm-clock with rounded edges",
+    "Push the central button on the small alarm-clock's top side.",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Click the alarm-clock with buttons on side's top center button using the left arm.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with rounded edges",
+    "Push the top button of the alarm-clock with rounded edges using the left arm",
+    "Use the left arm to press the central button on the digital screen alarm-clock.",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Use the left arm to click the top center button on the alarm-clock with rounded edges.",
+    "Use the left arm to press the center top of the smooth black alarm-clock",
+    "Click the button centered on the small alarm-clock's top.",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Use the left arm to activate the alarm-clock with digital display's button",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "the left arm activates the small alarm-clock by clicking the top button",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Click the center button on the rectangular alarm-clock's top side.",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Use the left arm to tap the alarm-clock with rounded edges's central button.",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Press the black alarm-clock's top button using the left arm",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Hit the center of the compact alarm-clock's top button",
+    "Locate and press the black alarm-clock's top center button",
+    "Click the top center button of the black matte alarm-clock",
+    "Direct the left arm to click the button found on the small alarm-clock.",
+    "Tap the button at the black alarm-clock's top center.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Use the left arm to press the black matte alarm-clock button",
+    "Use the left arm to tap the alarm-clock with rounded edges's top button center",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Tap the black matte alarm-clock's top button with the left arm",
+    "the left arm clicks the center top button on the alarm-clock with digital display",
+    "Use the left arm to click the center button on the alarm-clock with buttons on side",
+    "Touch the alarm-clock with buttons on side's center top button with the left arm",
+    "Press the top button at the compact alarm-clock's center.",
+    "Use the left arm to click the top of the smooth black alarm-clock",
+    "Use the left arm to press the digital screen alarm-clock's top center button.",
+    "Guide the left arm to press the centered button on the black alarm-clock.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Use the left arm to press the alarm-clock with buttons on side's top button",
+    "Push the top button on the black matte alarm-clock",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Click the alarm-clock with buttons on side's top center button using the left arm.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with rounded edges",
+    "Push the top button of the lightweight plastic alarm-clock using the left arm",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Use the left arm to click the top center button on the alarm-clock with digital display.",
+    "Use the left arm to press the center top of the compact alarm-clock",
+    "Click the button centered on the black alarm-clock's top.",
+    "the left arm presses the center top button on the palm-sized alarm-clock",
+    "Use the left arm to activate the rectangular alarm-clock's button",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Locate and press the top button on the black alarm-clock",
+    "the left arm activates the digital screen alarm-clock by clicking the top button",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Click the center button on the rectangular alarm-clock's top side.",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Use the left arm to tap the rectangular alarm-clock's central button.",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Click the button centered on the small alarm-clock.",
+    "Press the palm-sized alarm-clock's top button using the left arm",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Direct the left arm to click the button found on the small alarm-clock.",
+    "Tap the button at the smooth black alarm-clock's top center.",
+    "Use the left arm to tap the compact alarm-clock's top center button.",
+    "Activate the alarm-clock with buttons on side by pressing the top button",
+    "Use the left arm to press the small alarm-clock button",
+    "Use the left arm to tap the smooth black alarm-clock's top button center",
+    "Press the center top button on the black alarm-clock with the left arm",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Touch the alarm-clock with buttons on side's center top button with the left arm",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Use the left arm to press the black matte alarm-clock's top center button.",
+    "Guide the left arm to press the centered button on the alarm-clock with buttons on side.",
+    "Activate the small alarm-clock by pressing its top",
+    "Use the left arm to press the smooth black alarm-clock's top button"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode15.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fba6ddbe147b1dc6e521f1ef67d481a322bdf00
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Use the right arm to press the dark blue clock's top center button.",
+    "the right arm activates the clock with white dial by clicking the top button",
+    "Guide the right arm to press the centered button on the dark blue clock.",
+    "Click the center of the square alarm clock's top",
+    "Use the right arm to tap the dark blue clock's top center button.",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Click the button centered on the dark blue clock.",
+    "Activate the square plastic alarm clock by clicking its top button",
+    "Press the center button on the dark blue clock's top.",
+    "Use the right arm to activate the blue clock with green stripe's button",
+    "Use the right arm to tap the square alarm clock's central button.",
+    "Press the rounded square-shaped alarm clock's top button using the right arm",
+    "Touch the dark blue clock's button on the top side.",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock",
+    "Use the right arm to click the center button on the alarm clock with green stripe",
+    "Click the button centered on the clock with white dial's top.",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Click the square plastic alarm clock's top center button using the right arm.",
+    "Use the right arm to click the top of the alarm clock with green stripe",
+    "Press the center top button on the small clock with rounded edges with the right arm",
+    "Press the top middle button of the small plastic alarm clock",
+    "Click the top center button of the dark blue clock",
+    "Use the right arm to press the central button on the dark blue clock.",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Use the right arm to press the blue clock with green stripe button",
+    "the right arm clicks the center top button on the square alarm clock",
+    "Push the top button on the small plastic alarm clock",
+    "Use the right arm to tap the small clock with rounded edges's top button center",
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "Push the center area of the blue clock with green stripe's top",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Direct the right arm to click the button found on the alarm clock with green stripe.",
+    "Press the center top button of the small plastic alarm clock",
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "the right arm presses the center top button on the square plastic alarm clock",
+    "Tap the center button on the small clock with rounded edges.",
+    "Press the button on the white-faced alarm clock's top side",
+    "Tap the clock with white dial's top button with the right arm",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Press the top button in the clock with white dial's center.",
+    "Activate the clock with black hands by pressing the top button",
+    "Use the right arm to press the square alarm clock's top button",
+    "Hit the center of the alarm clock with green stripe's top button",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Locate and press the square plastic alarm clock's top center button",
+    "Push the top button of the square alarm clock using the right arm",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "the right arm activates the white-faced alarm clock by clicking the top button",
+    "Guide the right arm to press the centered button on the small plastic alarm clock.",
+    "Click the center of the blue clock with green stripe's top",
+    "Use the right arm to tap the square plastic alarm clock's top center button.",
+    "Push the central button on the square alarm clock's top side.",
+    "Push the button on the dark blue clock's top center.",
+    "Click the button centered on the square plastic alarm clock.",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Use the right arm to activate the palm-sized dark blue clock's button",
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "Press the square plastic alarm clock's top button using the right arm",
+    "Touch the dark blue clock's button on the top side.",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "Use the right arm to press the center top of the blue clock with green stripe",
+    "Use the right arm to click the center button on the dark blue clock",
+    "Click the button centered on the blue clock with green stripe's top.",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Click the dark blue clock's top center button using the right arm.",
+    "Use the right arm to click the top of the dark blue clock",
+    "Press the center top button on the blue clock with green stripe with the right arm",
+    "Press the top middle button of the dark blue clock",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Use the right arm to press the central button on the blue clock with green stripe.",
+    "Tap the button at the square alarm clock's top center.",
+    "Use the right arm to press the clock with black hands button",
+    "the right arm clicks the center top button on the small clock with rounded edges",
+    "Push the top button on the alarm clock with green stripe",
+    "Use the right arm to tap the square alarm clock's top button center",
+    "Use the right arm to click the top center button on the clock with white dial.",
+    "Push the center area of the small clock with rounded edges's top",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Press the center top button of the clock with black hands",
+    "Touch the alarm clock with green stripe's center top button with the right arm",
+    "the right arm presses the center top button on the palm-sized dark blue clock",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Tap the square plastic alarm clock's top button with the right arm",
+    "Activate the blue clock with green stripe by pressing its top",
+    "Press the top button in the rounded square-shaped alarm clock's center.",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Use the right arm to press the small clock with rounded edges's top button",
+    "Hit the center of the dark blue clock's top button",
+    "Point the right arm to press the button of the clock with white dial."
+  ],
+  "unseen": [
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode16.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..1591dc6adac9ed4bf29be8da99e6c5ea69b5c7be
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Activate the small alarm-clock by pressing its top",
+    "Press the center button on the palm-sized alarm-clock's top.",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Touch the palm-sized alarm-clock's center top button with the left arm",
+    "Click the top center button of the compact alarm-clock",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Push the top button on the black alarm-clock",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "the left arm clicks the center top button on the alarm-clock with buttons on side",
+    "Press the center top button on the compact alarm-clock with the left arm",
+    "Press the top button at the black alarm-clock's center.",
+    "Press the center top button of the rectangular alarm-clock",
+    "Tap the button at the small alarm-clock's top center.",
+    "Use the left arm to click the top of the black alarm-clock",
+    "Push the button on the small alarm-clock's top center.",
+    "Use the left arm to tap the black alarm-clock's top center button.",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Hit the center of the small alarm-clock's top button",
+    "Click the smooth black alarm-clock's top center button using the left arm.",
+    "Push the center area of the alarm-clock with buttons on side's top",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "the left arm presses the center top button on the lightweight plastic alarm-clock",
+    "Direct the left arm to click the button found on the black matte alarm-clock.",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "Use the left arm to activate the alarm-clock with rounded edges's button",
+    "Use the left arm to press the center top of the alarm-clock with digital display",
+    "Push the top button of the digital screen alarm-clock using the left arm",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Click the center button on the small alarm-clock's top side.",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Press the top button in the black alarm-clock's center.",
+    "Press the top middle button of the compact alarm-clock",
+    "Use the left arm to press the small alarm-clock button",
+    "Push the central button on the smooth black alarm-clock's top side.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with buttons on side",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Point the left arm to press the button of the black alarm-clock.",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Use the left arm to click the top center button on the black matte alarm-clock.",
+    "Activate the digital screen alarm-clock by clicking its top button",
+    "Use the left arm to tap the digital screen alarm-clock's top button center",
+    "Use the left arm to click the center button on the black matte alarm-clock",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Press the center button on the black alarm-clock's top.",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Click the button centered on the alarm-clock with rounded edges.",
+    "Touch the compact alarm-clock's center top button with the left arm",
+    "Click the top center button of the black matte alarm-clock",
+    "Use the left arm to tap the palm-sized alarm-clock's central button.",
+    "Push the top button on the palm-sized alarm-clock",
+    "Locate and press the top button on the small alarm-clock",
+    "the left arm clicks the center top button on the alarm-clock with buttons on side",
+    "Press the center top button on the alarm-clock with digital display with the left arm",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Press the center top button of the small alarm-clock",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Use the left arm to click the top of the digital screen alarm-clock",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Use the left arm to tap the alarm-clock with rounded edges's top center button.",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Click the black matte alarm-clock's top center button using the left arm.",
+    "Push the center area of the small alarm-clock's top",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Direct the left arm to click the button found on the alarm-clock with digital display.",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "Use the left arm to activate the lightweight plastic alarm-clock's button",
+    "Use the left arm to press the center top of the black alarm-clock",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "Press the palm-sized alarm-clock's top button using the left arm",
+    "Click the center of the rectangular alarm-clock's top",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Use the left arm to press the small alarm-clock button",
+    "Push the central button on the smooth black alarm-clock's top side.",
+    "Ensure the left arm clicks the top center button of the black matte alarm-clock",
+    "Use the left arm to press the lightweight plastic alarm-clock's top button",
+    "Point the left arm to press the button of the black alarm-clock.",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Touch the small alarm-clock's button on the top side.",
+    "Use the left arm to click the top center button on the alarm-clock with digital display.",
+    "Activate the palm-sized alarm-clock by clicking its top button"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode17.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb184aa2a676574e650522968f030e32cfeccf2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center top button on the alarm-clock with rounded edges with the left arm",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Tap the alarm-clock with buttons on side's top button with the left arm",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Point the left arm to press the button of the black alarm-clock.",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "the left arm clicks the center top button on the black alarm-clock",
+    "Touch the black matte alarm-clock's center top button with the left arm",
+    "Use the left arm to press the compact alarm-clock's top center button.",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "Push the top button of the alarm-clock with rounded edges using the left arm",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Push the top button on the smooth black alarm-clock",
+    "Click the top center button of the compact alarm-clock",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Click the middle button on the black alarm-clock's top side",
+    "Use the left arm to tap the alarm-clock with buttons on side's central button.",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Press the palm-sized alarm-clock's top button using the left arm",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "Use the left arm to press the central button on the black alarm-clock.",
+    "Use the left arm to click the top of the alarm-clock with digital display",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Press the center top button of the black alarm-clock",
+    "Click the center of the digital screen alarm-clock's top",
+    "Use the left arm to press the lightweight plastic alarm-clock button",
+    "the left arm presses the center top button on the digital screen alarm-clock",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Use the left arm to click the center button on the black alarm-clock",
+    "Use the left arm to activate the black matte alarm-clock's button",
+    "Tap the button at the small alarm-clock's top center.",
+    "Click the black matte alarm-clock's top center button using the left arm.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Guide the left arm to press the centered button on the alarm-clock with digital display.",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "the left arm activates the black matte alarm-clock by clicking the top button",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Direct the left arm to click the button found on the alarm-clock with buttons on side.",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Press the center top button on the alarm-clock with rounded edges with the left arm",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Tap the compact alarm-clock's top button with the left arm",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Point the left arm to press the button of the small alarm-clock.",
+    "Locate and press the compact alarm-clock's top center button",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Touch the lightweight plastic alarm-clock's center top button with the left arm",
+    "Use the left arm to press the digital screen alarm-clock's top center button.",
+    "Use the left arm to tap the smooth black alarm-clock's top button center",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Press the top middle button of the black matte alarm-clock",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Push the top button on the digital screen alarm-clock",
+    "Click the top center button of the black alarm-clock",
+    "Use the left arm to click the top center button on the small alarm-clock.",
+    "Push the center area of the small alarm-clock's top",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Use the left arm to press the center top of the compact alarm-clock",
+    "Use the left arm to press the central button on the rectangular alarm-clock.",
+    "Use the left arm to click the top of the alarm-clock with buttons on side",
+    "Activate the black matte alarm-clock by pressing its top",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "Press the center top button of the digital screen alarm-clock",
+    "Click the center of the rectangular alarm-clock's top",
+    "Use the left arm to press the small alarm-clock button",
+    "the left arm presses the center top button on the alarm-clock with buttons on side",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Click the digital screen alarm-clock's top center button using the left arm.",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Guide the left arm to press the centered button on the compact alarm-clock.",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "the left arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Use the left arm to press the black matte alarm-clock's top button",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Use the left arm to tap the alarm-clock with digital display's top center button."
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode19.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fbd137f1acb5c6f867cb0b652ea60e4ab0a077a
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the left arm activates the white-faced alarm clock by clicking the top button",
+    "Press the top middle button of the dark blue clock",
+    "Press the center top button on the white-faced alarm clock with the left arm",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Press the center top button of the blue clock with green stripe",
+    "Use the left arm to press the square alarm clock button",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Tap the center button on the small clock with rounded edges.",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Use the left arm to tap the white-faced alarm clock's top center button.",
+    "Push the center area of the clock with black hands's top",
+    "the left arm presses the center top button on the palm-sized dark blue clock",
+    "Locate and press the square alarm clock's top center button",
+    "Click the top center button of the square plastic alarm clock",
+    "Click the center button on the square alarm clock's top side.",
+    "Click the middle button on the clock with white dial's top side",
+    "Press the small clock with rounded edges's top button using the left arm",
+    "Use the left arm to click the top center button on the small clock with rounded edges.",
+    "Use the left arm to press the blue clock with green stripe's top button",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Point the left arm to press the button of the clock with black hands.",
+    "Use the left arm to click the top of the blue clock with green stripe",
+    "Ensure the left arm clicks the top center button of the square alarm clock",
+    "Push the top button of the small clock with rounded edges using the left arm",
+    "Activate the white-faced alarm clock by pressing its top",
+    "Tap the square plastic alarm clock's top button with the left arm",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Press the center button on the square plastic alarm clock's top.",
+    "Use the left arm to press the center top of the blue clock with green stripe",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Click the button centered on the palm-sized dark blue clock.",
+    "Touch the square alarm clock's button on the top side.",
+    "Use the left arm to tap the dark blue clock's central button.",
+    "Push the top button on the small plastic alarm clock",
+    "Use the left arm to click the center button on the clock with white dial",
+    "the left arm clicks the center top button on the alarm clock with green stripe",
+    "Guide the left arm to press the centered button on the palm-sized dark blue clock.",
+    "Direct the left arm to click the button found on the square alarm clock.",
+    "Use the left arm to activate the small clock with rounded edges's button",
+    "Click the button centered on the clock with white dial's top.",
+    "Use the left arm to press the central button on the blue clock with green stripe.",
+    "Use the left arm to tap the small clock with rounded edges's top button center",
+    "Press the button on the small plastic alarm clock's top side",
+    "Press the top button in the square alarm clock's center.",
+    "Click the center of the square plastic alarm clock's top",
+    "Click the clock with black hands's top center button using the left arm.",
+    "Use the left arm to press the rounded square-shaped alarm clock's top center button.",
+    "Tap the button at the clock with black hands's top center.",
+    "the left arm activates the dark blue clock by clicking the top button",
+    "Press the top middle button of the white-faced alarm clock",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Push the central button on the clock with white dial's top side.",
+    "Press the center top button of the small plastic alarm clock",
+    "Use the left arm to press the palm-sized dark blue clock button",
+    "Touch the clock with black hands's center top button with the left arm",
+    "Tap the center button on the square plastic alarm clock.",
+    "Locate and press the top button on the square alarm clock",
+    "Use the left arm to tap the white-faced alarm clock's top center button.",
+    "Push the center area of the clock with white dial's top",
+    "the left arm presses the center top button on the dark blue clock",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Click the top center button of the square plastic alarm clock",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Press the blue clock with green stripe's top button using the left arm",
+    "Use the left arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Use the left arm to press the clock with black hands's top button",
+    "Activate the small plastic alarm clock by clicking its top button",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Use the left arm to click the top of the square alarm clock",
+    "Ensure the left arm clicks the top center button of the dark blue clock",
+    "Push the top button of the square alarm clock using the left arm",
+    "Activate the square alarm clock by pressing its top",
+    "Tap the square alarm clock's top button with the left arm",
+    "Push the button on the dark blue clock's top center.",
+    "Activate the square alarm clock by pressing the top button",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Press the center button on the clock with white dial's top.",
+    "Use the left arm to press the center top of the alarm clock with green stripe",
+    "Hit the center of the alarm clock with green stripe's top button",
+    "Click the button centered on the square alarm clock.",
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Use the left arm to tap the square plastic alarm clock's central button.",
+    "Push the top button on the palm-sized dark blue clock",
+    "Use the left arm to click the center button on the small clock with rounded edges",
+    "the left arm clicks the center top button on the blue clock with green stripe",
+    "Guide the left arm to press the centered button on the clock with white dial.",
+    "Direct the left arm to click the button found on the blue clock with green stripe.",
+    "Use the left arm to activate the white-faced alarm clock's button",
+    "Click the button centered on the clock with black hands's top.",
+    "Use the left arm to press the central button on the palm-sized dark blue clock.",
+    "Use the left arm to tap the clock with black hands's top button center",
+    "Press the button on the white-faced alarm clock's top side",
+    "Press the top button in the small plastic alarm clock's center.",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Click the blue clock with green stripe's top center button using the left arm.",
+    "Use the left arm to press the alarm clock with green stripe's top center button.",
+    "Tap the button at the square plastic alarm clock's top center."
+  ],
+  "unseen": [
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode2.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb0d037a39da663f81f468fc5472b2c24260083
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to activate the square alarm clock's button",
+    "the left arm clicks the center top button on the square plastic alarm clock",
+    "Press the center top button on the dark blue clock with the left arm",
+    "Activate the square alarm clock by pressing its top",
+    "the left arm presses the center top button on the dark blue clock",
+    "the left arm activates the clock with black hands by clicking the top button",
+    "Direct the left arm to click the button found on the clock with white dial.",
+    "Push the top button of the clock with white dial using the left arm",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Push the center area of the palm-sized dark blue clock's top",
+    "Click the middle button on the small clock with rounded edges's top side",
+    "Press the top button in the clock with white dial's center.",
+    "Ensure the left arm clicks the top center button of the blue clock with green stripe",
+    "Activate the clock with white dial by pressing the top button",
+    "Touch the palm-sized dark blue clock's button on the top side.",
+    "Guide the left arm to press the centered button on the alarm clock with green stripe.",
+    "Use the left arm to press the small clock with rounded edges button",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Use the left arm to tap the dark blue clock's top center button.",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Push the central button on the clock with black hands's top side.",
+    "Tap the clock with black hands's top button with the left arm",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Use the left arm to tap the square plastic alarm clock's top button center",
+    "Use the left arm to press the central button on the small clock with rounded edges.",
+    "Tap the center button on the small plastic alarm clock.",
+    "Click the center of the square plastic alarm clock's top",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Press the small clock with rounded edges's top button using the left arm",
+    "Use the left arm to click the top of the square plastic alarm clock",
+    "Touch the small plastic alarm clock's center top button with the left arm",
+    "Activate the square alarm clock by clicking its top button",
+    "Click the button centered on the square plastic alarm clock.",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Use the left arm to tap the small clock with rounded edges's central button.",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Click the top center button of the alarm clock with green stripe",
+    "Click the square alarm clock's top center button using the left arm.",
+    "Press the center top button of the square alarm clock",
+    "Use the left arm to press the rounded square-shaped alarm clock's top center button.",
+    "Use the left arm to click the center button on the clock with white dial",
+    "Push the top button on the white-faced alarm clock",
+    "Use the left arm to press the center top of the alarm clock with green stripe",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Locate and press the square alarm clock's top center button",
+    "Tap the button at the small clock with rounded edges's top center.",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Use the left arm to press the square alarm clock's top button",
+    "Use the left arm to click the top center button on the square plastic alarm clock.",
+    "Use the left arm to activate the square plastic alarm clock's button",
+    "the left arm clicks the center top button on the white-faced alarm clock",
+    "Press the center top button on the clock with black hands with the left arm",
+    "Activate the small clock with rounded edges by pressing its top",
+    "the left arm presses the center top button on the dark blue clock",
+    "the left arm activates the square alarm clock by clicking the top button",
+    "Direct the left arm to click the button found on the small plastic alarm clock.",
+    "Push the top button of the white-faced alarm clock using the left arm",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Press the top button in the clock with white dial's center.",
+    "Ensure the left arm clicks the top center button of the rounded square-shaped alarm clock",
+    "Activate the clock with white dial by pressing the top button",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Guide the left arm to press the centered button on the dark blue clock.",
+    "Use the left arm to press the white-faced alarm clock button",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Use the left arm to tap the clock with white dial's top center button.",
+    "Push the button on the clock with black hands's top center.",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Tap the dark blue clock's top button with the left arm",
+    "Press the top middle button of the square alarm clock",
+    "Use the left arm to tap the dark blue clock's top button center",
+    "Use the left arm to press the central button on the clock with black hands.",
+    "Tap the center button on the dark blue clock.",
+    "Click the center of the small plastic alarm clock's top",
+    "Click the center button on the dark blue clock's top side.",
+    "Press the dark blue clock's top button using the left arm",
+    "Use the left arm to click the top of the palm-sized dark blue clock",
+    "Touch the white-faced alarm clock's center top button with the left arm",
+    "Activate the square alarm clock by clicking its top button",
+    "Click the button centered on the square plastic alarm clock.",
+    "Locate and press the top button on the square plastic alarm clock",
+    "Use the left arm to tap the white-faced alarm clock's central button.",
+    "Press the button on the clock with white dial's top side",
+    "Click the top center button of the blue clock with green stripe",
+    "Click the rounded square-shaped alarm clock's top center button using the left arm.",
+    "Press the center top button of the white-faced alarm clock",
+    "Use the left arm to press the alarm clock with green stripe's top center button.",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Push the top button on the square alarm clock",
+    "Use the left arm to press the center top of the square plastic alarm clock",
+    "Press the center button on the square alarm clock's top.",
+    "Locate and press the small clock with rounded edges's top center button",
+    "Tap the button at the small clock with rounded edges's top center.",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Use the left arm to press the blue clock with green stripe's top button",
+    "Use the left arm to click the top center button on the small plastic alarm clock."
+  ],
+  "unseen": [
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode20.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eb1b99e845d76e98ddc15a16a08cc9d1833b311
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top button in the lightweight plastic alarm-clock's center.",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Locate and press the top button on the alarm-clock with buttons on side",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "Tap the palm-sized alarm-clock's top button with the left arm",
+    "Use the left arm to press the black alarm-clock button",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "Use the left arm to click the top center button on the small alarm-clock.",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Press the top button at the compact alarm-clock's center.",
+    "Hit the center of the compact alarm-clock's top button",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Click the center button on the black alarm-clock's top side.",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Click the digital screen alarm-clock's top center button using the left arm.",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Press the button on the small alarm-clock's top side",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Press the center top button of the black matte alarm-clock",
+    "Use the left arm to tap the alarm-clock with buttons on side's top center button.",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "Push the top button on the palm-sized alarm-clock",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Click the top center button of the alarm-clock with rounded edges",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "Activate the small alarm-clock by pressing its top",
+    "the left arm activates the lightweight plastic alarm-clock by clicking the top button",
+    "Use the left arm to press the digital screen alarm-clock's top button",
+    "Direct the left arm to click the button found on the black alarm-clock.",
+    "Guide the left arm to press the centered button on the smooth black alarm-clock.",
+    "Use the left arm to tap the compact alarm-clock's top button center",
+    "Push the button on the black alarm-clock's top center.",
+    "Use the left arm to press the center top of the palm-sized alarm-clock",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Click the center of the compact alarm-clock's top",
+    "Press the center top button on the alarm-clock with buttons on side with the left arm",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Click the middle button on the small alarm-clock's top side",
+    "Press the compact alarm-clock's top button using the left arm",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Use the left arm to click the top of the rectangular alarm-clock",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Use the left arm to tap the rectangular alarm-clock's central button.",
+    "Locate and press the top button on the alarm-clock with buttons on side",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Push the top button of the rectangular alarm-clock using the left arm",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "Use the left arm to press the alarm-clock with buttons on side button",
+    "Push the center area of the alarm-clock with digital display's top",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Point the left arm to press the button of the small alarm-clock.",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Hit the center of the small alarm-clock's top button",
+    "Tap the button at the smooth black alarm-clock's top center.",
+    "Click the center button on the lightweight plastic alarm-clock's top side.",
+    "the left arm presses the center top button on the smooth black alarm-clock",
+    "the left arm clicks the center top button on the smooth black alarm-clock",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Press the center top button of the alarm-clock with digital display",
+    "Use the left arm to tap the alarm-clock with digital display's top center button.",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Click the button centered on the lightweight plastic alarm-clock.",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Click the top center button of the compact alarm-clock",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Guide the left arm to press the centered button on the alarm-clock with rounded edges.",
+    "Use the left arm to tap the palm-sized alarm-clock's top button center",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Use the left arm to press the center top of the alarm-clock with rounded edges",
+    "Locate and press the compact alarm-clock's top center button",
+    "Click the center of the smooth black alarm-clock's top",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Press the top middle button of the compact alarm-clock",
+    "Ensure the left arm clicks the top center button of the small alarm-clock",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Use the left arm to click the top of the palm-sized alarm-clock"
+  ],
+  "unseen": [
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode21.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..92dadf867b13efbceab35d701110b028f3ada223
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the top center button of the square plastic alarm clock",
+    "Use the right arm to press the central button on the clock with white dial.",
+    "Touch the white-faced alarm clock's button on the top side.",
+    "Use the right arm to press the center top of the alarm clock with green stripe",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Locate and press the small plastic alarm clock's top center button",
+    "Push the central button on the rounded square-shaped alarm clock's top side.",
+    "the right arm clicks the center top button on the square plastic alarm clock",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Press the top button in the clock with black hands's center.",
+    "Push the top button on the clock with black hands",
+    "Ensure the right arm clicks the top center button of the palm-sized dark blue clock",
+    "Locate and press the top button on the square alarm clock",
+    "Tap the button at the clock with black hands's top center.",
+    "Press the center top button on the square alarm clock with the right arm",
+    "Use the right arm to click the top center button on the alarm clock with green stripe.",
+    "Use the right arm to click the top of the blue clock with green stripe",
+    "Use the right arm to press the clock with white dial's top button",
+    "Use the right arm to activate the clock with white dial's button",
+    "Click the center of the small clock with rounded edges's top",
+    "Click the button centered on the alarm clock with green stripe.",
+    "the right arm activates the square plastic alarm clock by clicking the top button",
+    "Use the right arm to press the alarm clock with green stripe button",
+    "Use the right arm to tap the clock with white dial's top button center",
+    "Touch the alarm clock with green stripe's center top button with the right arm",
+    "Use the right arm to click the center button on the white-faced alarm clock",
+    "Use the right arm to tap the square plastic alarm clock's top center button.",
+    "Push the center area of the clock with black hands's top",
+    "Press the square plastic alarm clock's top button using the right arm",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Tap the clock with white dial's top button with the right arm",
+    "Click the center button on the clock with white dial's top side.",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Hit the center of the clock with white dial's top button",
+    "the right arm presses the center top button on the small clock with rounded edges",
+    "Push the top button of the clock with black hands using the right arm",
+    "Use the right arm to press the dark blue clock's top center button.",
+    "Point the right arm to press the button of the white-faced alarm clock.",
+    "Press the top button at the dark blue clock's center.",
+    "Press the center button on the clock with white dial's top.",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Push the button on the clock with black hands's top center.",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Press the button on the alarm clock with green stripe's top side",
+    "Direct the right arm to click the button found on the clock with white dial.",
+    "Press the center top button of the alarm clock with green stripe",
+    "Use the right arm to tap the alarm clock with green stripe's central button.",
+    "Tap the center button on the blue clock with green stripe.",
+    "Click the top center button of the clock with black hands",
+    "Use the right arm to press the central button on the clock with black hands.",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Use the right arm to press the center top of the white-faced alarm clock",
+    "Activate the square alarm clock by pressing its top",
+    "Locate and press the clock with white dial's top center button",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Activate the square alarm clock by pressing the top button",
+    "Press the top button in the small plastic alarm clock's center.",
+    "Push the top button on the square alarm clock",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Press the center top button on the square plastic alarm clock with the right arm",
+    "Use the right arm to click the top center button on the clock with black hands.",
+    "Use the right arm to click the top of the alarm clock with green stripe",
+    "Use the right arm to press the white-faced alarm clock's top button",
+    "Use the right arm to activate the square plastic alarm clock's button",
+    "Click the center of the clock with white dial's top",
+    "Click the button centered on the alarm clock with green stripe.",
+    "the right arm activates the clock with white dial by clicking the top button",
+    "Use the right arm to press the square plastic alarm clock button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top button center",
+    "Touch the blue clock with green stripe's center top button with the right arm",
+    "Use the right arm to click the center button on the square plastic alarm clock",
+    "Use the right arm to tap the blue clock with green stripe's top center button.",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Press the small clock with rounded edges's top button using the right arm",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Tap the rounded square-shaped alarm clock's top button with the right arm",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "Press the top middle button of the square plastic alarm clock",
+    "Activate the small clock with rounded edges by clicking its top button",
+    "Hit the center of the square plastic alarm clock's top button",
+    "the right arm presses the center top button on the small clock with rounded edges",
+    "Push the top button of the small clock with rounded edges using the right arm",
+    "Use the right arm to press the small plastic alarm clock's top center button.",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Guide the right arm to press the centered button on the dark blue clock.",
+    "Push the button on the blue clock with green stripe's top center.",
+    "Click the small clock with rounded edges's top center button using the right arm.",
+    "Press the button on the blue clock with green stripe's top side",
+    "Direct the right arm to click the button found on the clock with black hands.",
+    "Press the center top button of the square plastic alarm clock",
+    "Use the right arm to tap the square alarm clock's central button.",
+    "Tap the center button on the small clock with rounded edges."
+  ],
+  "unseen": [
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode22.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e056c854d572dbab38d9b421c21476d5fe71c22
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to press the center top of the palm-sized alarm-clock",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Use the right arm to press the alarm-clock with rounded edges button",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Press the top middle button of the black alarm-clock",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Use the right arm to click the top of the black matte alarm-clock",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Tap the small alarm-clock's top button with the right arm",
+    "Push the top button on the black alarm-clock",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Use the right arm to tap the palm-sized alarm-clock's central button.",
+    "the right arm activates the smooth black alarm-clock by clicking the top button",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Use the right arm to press the black matte alarm-clock's top button",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Press the lightweight plastic alarm-clock's top button using the right arm",
+    "Use the right arm to press the palm-sized alarm-clock's top center button.",
+    "Point the right arm to press the button of the alarm-clock with buttons on side.",
+    "Use the right arm to press the central button on the smooth black alarm-clock.",
+    "Touch the small alarm-clock's center top button with the right arm",
+    "Push the button on the palm-sized alarm-clock's top center.",
+    "Activate the small alarm-clock by pressing the top button",
+    "the right arm presses the center top button on the alarm-clock with buttons on side",
+    "Push the top button of the compact alarm-clock using the right arm",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Guide the right arm to press the centered button on the compact alarm-clock.",
+    "Click the small alarm-clock's top center button using the right arm.",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "Push the center area of the black alarm-clock's top",
+    "Use the right arm to activate the alarm-clock with rounded edges's button",
+    "Use the right arm to click the center button on the small alarm-clock",
+    "Use the right arm to tap the alarm-clock with buttons on side's top center button.",
+    "Direct the right arm to click the button found on the palm-sized alarm-clock.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with digital display",
+    "Click the top center button of the digital screen alarm-clock",
+    "Click the button centered on the compact alarm-clock.",
+    "Press the center top button on the alarm-clock with buttons on side with the right arm",
+    "Click the center button on the rectangular alarm-clock's top side.",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Press the center top button of the alarm-clock with digital display",
+    "Click the center of the black matte alarm-clock's top",
+    "Use the right arm to tap the compact alarm-clock's top button center",
+    "Tap the center button on the small alarm-clock.",
+    "Use the right arm to click the top center button on the compact alarm-clock.",
+    "Press the center button on the small alarm-clock's top.",
+    "Activate the black alarm-clock by clicking its top button",
+    "Use the right arm to press the center top of the smooth black alarm-clock",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Use the right arm to press the lightweight plastic alarm-clock button",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Use the right arm to click the top of the digital screen alarm-clock",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Tap the black matte alarm-clock's top button with the right arm",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Use the right arm to tap the compact alarm-clock's central button.",
+    "the right arm activates the alarm-clock with digital display by clicking the top button",
+    "Locate and press the top button on the small alarm-clock",
+    "Use the right arm to press the black matte alarm-clock's top button",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Press the lightweight plastic alarm-clock's top button using the right arm",
+    "Use the right arm to press the black matte alarm-clock's top center button.",
+    "Point the right arm to press the button of the smooth black alarm-clock.",
+    "Use the right arm to press the central button on the small alarm-clock.",
+    "Touch the black matte alarm-clock's center top button with the right arm",
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "the right arm presses the center top button on the small alarm-clock",
+    "Push the top button of the black matte alarm-clock using the right arm",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Guide the right arm to press the centered button on the palm-sized alarm-clock.",
+    "Click the rectangular alarm-clock's top center button using the right arm.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Push the center area of the alarm-clock with buttons on side's top",
+    "Use the right arm to activate the black alarm-clock's button",
+    "Use the right arm to click the center button on the alarm-clock with digital display",
+    "Use the right arm to tap the digital screen alarm-clock's top center button.",
+    "Direct the right arm to click the button found on the black matte alarm-clock.",
+    "Ensure the right arm clicks the top center button of the alarm-clock with rounded edges",
+    "Click the top center button of the alarm-clock with digital display",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Press the center top button on the lightweight plastic alarm-clock with the right arm",
+    "Click the center button on the black matte alarm-clock's top side.",
+    "the right arm clicks the center top button on the compact alarm-clock",
+    "Click the button centered on the alarm-clock with buttons on side's top.",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Press the center top button of the compact alarm-clock",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Use the right arm to tap the compact alarm-clock's top button center",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Use the right arm to click the top center button on the rectangular alarm-clock.",
+    "Press the center button on the black alarm-clock's top.",
+    "Activate the smooth black alarm-clock by clicking its top button"
+  ],
+  "unseen": [
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode23.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..35c15117a41c5c5de2edbdf9f526dbd14b11cbc4
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the left arm presses the center top button on the alarm clock with green stripe",
+    "the left arm activates the alarm clock with green stripe by clicking the top button",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Tap the center button on the small plastic alarm clock.",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Hit the center of the clock with white dial's top button",
+    "Use the left arm to tap the alarm clock with green stripe's central button.",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Point the left arm to press the button of the clock with black hands.",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Use the left arm to tap the dark blue clock's top button center",
+    "Use the left arm to click the top of the rounded square-shaped alarm clock",
+    "Press the top button in the blue clock with green stripe's center.",
+    "Touch the clock with white dial's center top button with the left arm",
+    "Press the clock with white dial's top button using the left arm",
+    "Use the left arm to press the small clock with rounded edges's top button",
+    "Click the center button on the clock with white dial's top side.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Direct the left arm to click the button found on the alarm clock with green stripe.",
+    "Push the top button on the white-faced alarm clock",
+    "Ensure the left arm clicks the top center button of the clock with black hands",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Press the top middle button of the alarm clock with green stripe",
+    "Activate the square alarm clock by pressing its top",
+    "Activate the clock with white dial by pressing the top button",
+    "Touch the clock with black hands's button on the top side.",
+    "Use the left arm to click the top center button on the small clock with rounded edges.",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Click the button centered on the small plastic alarm clock.",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Push the top button of the square alarm clock using the left arm",
+    "Locate and press the white-faced alarm clock's top center button",
+    "Use the left arm to click the center button on the clock with black hands",
+    "Use the left arm to press the central button on the rounded square-shaped alarm clock.",
+    "the left arm clicks the center top button on the blue clock with green stripe",
+    "Use the left arm to activate the dark blue clock's button",
+    "Press the center top button on the white-faced alarm clock with the left arm",
+    "Use the left arm to press the alarm clock with green stripe's top center button.",
+    "Push the center area of the dark blue clock's top",
+    "Press the center top button of the blue clock with green stripe",
+    "Click the middle button on the clock with white dial's top side",
+    "Guide the left arm to press the centered button on the small clock with rounded edges.",
+    "Click the center of the clock with black hands's top",
+    "Push the button on the blue clock with green stripe's top center.",
+    "Use the left arm to tap the blue clock with green stripe's top center button.",
+    "Use the left arm to press the center top of the rounded square-shaped alarm clock",
+    "Use the left arm to press the rounded square-shaped alarm clock button",
+    "Click the dark blue clock's top center button using the left arm.",
+    "Tap the dark blue clock's top button with the left arm",
+    "the left arm presses the center top button on the small plastic alarm clock",
+    "the left arm activates the clock with white dial by clicking the top button",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Tap the center button on the clock with black hands.",
+    "Press the top button at the alarm clock with green stripe's center.",
+    "Hit the center of the dark blue clock's top button",
+    "Use the left arm to tap the square alarm clock's central button.",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Point the left arm to press the button of the white-faced alarm clock.",
+    "Press the center button on the dark blue clock's top.",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Use the left arm to click the top of the blue clock with green stripe",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Touch the dark blue clock's center top button with the left arm",
+    "Press the alarm clock with green stripe's top button using the left arm",
+    "Use the left arm to press the alarm clock with green stripe's top button",
+    "Click the center button on the white-faced alarm clock's top side.",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Activate the dark blue clock by clicking its top button",
+    "Direct the left arm to click the button found on the square alarm clock.",
+    "Push the top button on the square plastic alarm clock",
+    "Ensure the left arm clicks the top center button of the square alarm clock",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "Press the top middle button of the square plastic alarm clock",
+    "Activate the palm-sized dark blue clock by pressing its top",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Touch the rounded square-shaped alarm clock's button on the top side.",
+    "Use the left arm to click the top center button on the blue clock with green stripe.",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Click the button centered on the white-faced alarm clock.",
+    "Press the button on the clock with black hands's top side",
+    "Push the top button of the white-faced alarm clock using the left arm",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Use the left arm to click the center button on the rounded square-shaped alarm clock",
+    "Use the left arm to press the central button on the small plastic alarm clock.",
+    "the left arm clicks the center top button on the clock with black hands",
+    "Use the left arm to activate the square plastic alarm clock's button",
+    "Press the center top button on the palm-sized dark blue clock with the left arm",
+    "Use the left arm to press the square plastic alarm clock's top center button.",
+    "Push the center area of the dark blue clock's top",
+    "Press the center top button of the square plastic alarm clock",
+    "Click the middle button on the small plastic alarm clock's top side",
+    "Guide the left arm to press the centered button on the dark blue clock.",
+    "Click the center of the small plastic alarm clock's top",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Use the left arm to tap the dark blue clock's top center button.",
+    "Use the left arm to press the center top of the clock with white dial",
+    "Use the left arm to press the square alarm clock button",
+    "Click the blue clock with green stripe's top center button using the left arm.",
+    "Tap the clock with black hands's top button with the left arm"
+  ],
+  "unseen": [
+    "Press the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode25.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22827a8d226d1a5af1f3c0ea403267db806b53c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the button on the digital screen alarm-clock's top side",
+    "Guide the right arm to press the centered button on the palm-sized alarm-clock.",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Use the right arm to press the black matte alarm-clock's top button",
+    "Use the right arm to press the digital screen alarm-clock's top center button.",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Use the right arm to click the top center button on the digital screen alarm-clock.",
+    "Use the right arm to click the center button on the alarm-clock with digital display",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "Click the center button on the alarm-clock with buttons on side's top side.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Use the right arm to tap the alarm-clock with digital display's central button.",
+    "Use the right arm to tap the alarm-clock with rounded edges's top button center",
+    "Click the top center button of the rectangular alarm-clock",
+    "Touch the alarm-clock with buttons on side's center top button with the right arm",
+    "Ensure the right arm clicks the top center button of the small alarm-clock",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Use the right arm to activate the alarm-clock with rounded edges's button",
+    "Activate the alarm-clock with rounded edges by pressing its top",
+    "Click the small alarm-clock's top center button using the right arm.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Push the top button on the black alarm-clock",
+    "Press the black matte alarm-clock's top button using the right arm",
+    "Direct the right arm to click the button found on the rectangular alarm-clock.",
+    "Tap the center button on the black matte alarm-clock.",
+    "Push the button on the black matte alarm-clock's top center.",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Use the right arm to press the center top of the smooth black alarm-clock",
+    "Point the right arm to press the button of the alarm-clock with buttons on side.",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Use the right arm to press the central button on the compact alarm-clock.",
+    "Locate and press the compact alarm-clock's top center button",
+    "Tap the button at the smooth black alarm-clock's top center.",
+    "the right arm activates the small alarm-clock by clicking the top button",
+    "Use the right arm to tap the alarm-clock with buttons on side's top center button.",
+    "Use the right arm to press the black alarm-clock button",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Press the center top button of the compact alarm-clock",
+    "Press the top middle button of the compact alarm-clock",
+    "Press the center button on the compact alarm-clock's top.",
+    "Push the center area of the black alarm-clock's top",
+    "Push the top button of the alarm-clock with rounded edges using the right arm",
+    "Press the center top button on the alarm-clock with buttons on side with the right arm",
+    "Tap the small alarm-clock's top button with the right arm",
+    "the right arm clicks the center top button on the black matte alarm-clock",
+    "Click the middle button on the small alarm-clock's top side",
+    "the right arm presses the center top button on the black alarm-clock",
+    "Click the center of the small alarm-clock's top",
+    "Press the button on the black alarm-clock's top side",
+    "Guide the right arm to press the centered button on the alarm-clock with rounded edges.",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Use the right arm to press the lightweight plastic alarm-clock's top button",
+    "Use the right arm to press the small alarm-clock's top center button.",
+    "Use the right arm to click the top of the black alarm-clock",
+    "Use the right arm to click the top center button on the palm-sized alarm-clock.",
+    "Use the right arm to click the center button on the alarm-clock with rounded edges",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Push the central button on the small alarm-clock's top side.",
+    "Use the right arm to tap the palm-sized alarm-clock's central button.",
+    "Use the right arm to tap the compact alarm-clock's top button center",
+    "Click the top center button of the alarm-clock with digital display",
+    "Touch the palm-sized alarm-clock's center top button with the right arm",
+    "Ensure the right arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Use the right arm to activate the smooth black alarm-clock's button",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Click the rectangular alarm-clock's top center button using the right arm.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Press the black alarm-clock's top button using the right arm",
+    "Direct the right arm to click the button found on the compact alarm-clock.",
+    "Tap the center button on the compact alarm-clock.",
+    "Push the button on the black alarm-clock's top center.",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Use the right arm to press the center top of the rectangular alarm-clock",
+    "Point the right arm to press the button of the digital screen alarm-clock.",
+    "Press the top button in the rectangular alarm-clock's center.",
+    "Use the right arm to press the central button on the rectangular alarm-clock.",
+    "Locate and press the black alarm-clock's top center button",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "the right arm activates the black alarm-clock by clicking the top button",
+    "Use the right arm to tap the digital screen alarm-clock's top center button.",
+    "Use the right arm to press the smooth black alarm-clock button",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Press the center button on the small alarm-clock's top.",
+    "Push the center area of the alarm-clock with digital display's top",
+    "Push the top button of the digital screen alarm-clock using the right arm",
+    "Press the center top button on the rectangular alarm-clock with the right arm",
+    "Tap the alarm-clock with digital display's top button with the right arm",
+    "the right arm clicks the center top button on the digital screen alarm-clock",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "the right arm presses the center top button on the palm-sized alarm-clock",
+    "Click the center of the rectangular alarm-clock's top"
+  ],
+  "unseen": [
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode26.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c011a5bda9324463149e48a5ccb2c15d34b431a
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top middle button of the alarm clock with green stripe",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Press the center top button of the blue clock with green stripe",
+    "Activate the blue clock with green stripe by pressing its top",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Use the right arm to press the center top of the rounded square-shaped alarm clock",
+    "Press the center button on the clock with black hands's top.",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Click the center of the small clock with rounded edges's top",
+    "Use the right arm to tap the dark blue clock's central button.",
+    "Use the right arm to press the blue clock with green stripe's top center button.",
+    "Tap the blue clock with green stripe's top button with the right arm",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Use the right arm to click the top of the small plastic alarm clock",
+    "Guide the right arm to press the centered button on the palm-sized dark blue clock.",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Press the clock with white dial's top button using the right arm",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Point the right arm to press the button of the small clock with rounded edges.",
+    "Click the blue clock with green stripe's top center button using the right arm.",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Use the right arm to press the square plastic alarm clock button",
+    "Use the right arm to activate the rounded square-shaped alarm clock's button",
+    "Hit the center of the clock with black hands's top button",
+    "Use the right arm to press the square plastic alarm clock's top button",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Push the central button on the clock with black hands's top side.",
+    "Push the center area of the square plastic alarm clock's top",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Click the top center button of the alarm clock with green stripe",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Use the right arm to press the central button on the small plastic alarm clock.",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Press the top button in the clock with white dial's center.",
+    "Push the button on the clock with white dial's top center.",
+    "Touch the blue clock with green stripe's center top button with the right arm",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Use the right arm to click the top center button on the palm-sized dark blue clock.",
+    "Ensure the right arm clicks the top center button of the square alarm clock",
+    "Push the top button of the small plastic alarm clock using the right arm",
+    "Use the right arm to tap the white-faced alarm clock's top center button.",
+    "Use the right arm to click the center button on the dark blue clock",
+    "Use the right arm to tap the palm-sized dark blue clock's top button center",
+    "Click the button centered on the rounded square-shaped alarm clock.",
+    "Activate the square alarm clock by pressing the top button",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Tap the button at the small clock with rounded edges's top center.",
+    "Push the top button on the rounded square-shaped alarm clock",
+    "Press the top middle button of the small plastic alarm clock",
+    "the right arm clicks the center top button on the dark blue clock",
+    "Press the center top button of the alarm clock with green stripe",
+    "Activate the dark blue clock by pressing its top",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Activate the square plastic alarm clock by clicking its top button",
+    "Use the right arm to press the center top of the white-faced alarm clock",
+    "Press the center button on the square alarm clock's top.",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Click the center of the white-faced alarm clock's top",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "Use the right arm to press the clock with white dial's top center button.",
+    "Tap the dark blue clock's top button with the right arm",
+    "Direct the right arm to click the button found on the blue clock with green stripe.",
+    "Use the right arm to click the top of the square plastic alarm clock",
+    "Guide the right arm to press the centered button on the small clock with rounded edges.",
+    "Press the button on the square plastic alarm clock's top side",
+    "Locate and press the top button on the square alarm clock",
+    "Press the square plastic alarm clock's top button using the right arm",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "Use the right arm to press the square plastic alarm clock button",
+    "Use the right arm to activate the clock with black hands's button",
+    "Hit the center of the rounded square-shaped alarm clock's top button",
+    "Use the right arm to press the small plastic alarm clock's top button",
+    "the right arm presses the center top button on the clock with white dial",
+    "Push the central button on the clock with white dial's top side.",
+    "Push the center area of the square alarm clock's top",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Click the top center button of the rounded square-shaped alarm clock",
+    "Click the middle button on the palm-sized dark blue clock's top side",
+    "Use the right arm to press the central button on the alarm clock with green stripe.",
+    "Tap the center button on the square alarm clock.",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Touch the clock with black hands's center top button with the right arm",
+    "Press the center top button on the blue clock with green stripe with the right arm",
+    "Use the right arm to click the top center button on the clock with black hands.",
+    "Ensure the right arm clicks the top center button of the small plastic alarm clock",
+    "Push the top button of the rounded square-shaped alarm clock using the right arm",
+    "Use the right arm to tap the alarm clock with green stripe's top center button.",
+    "Use the right arm to click the center button on the alarm clock with green stripe",
+    "Use the right arm to tap the square plastic alarm clock's top button center",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Push the top button on the blue clock with green stripe"
+  ],
+  "unseen": [
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode27.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..05554721a2f49a437ba4e4eed022814fee7b0cfd
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top button at the clock with white dial's center.",
+    "the right arm clicks the center top button on the alarm clock with green stripe",
+    "Direct the right arm to click the button found on the square plastic alarm clock.",
+    "Push the top button on the small clock with rounded edges",
+    "Tap the dark blue clock's top button with the right arm",
+    "Use the right arm to press the alarm clock with green stripe's top button",
+    "Tap the center button on the alarm clock with green stripe.",
+    "Use the right arm to tap the small plastic alarm clock's top center button.",
+    "the right arm presses the center top button on the alarm clock with green stripe",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Press the top middle button of the small clock with rounded edges",
+    "Touch the blue clock with green stripe's center top button with the right arm",
+    "Tap the button at the clock with white dial's top center.",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Use the right arm to activate the small plastic alarm clock's button",
+    "Click the button centered on the square alarm clock's top.",
+    "Use the right arm to press the center top of the blue clock with green stripe",
+    "Activate the clock with white dial by pressing the top button",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Hit the center of the white-faced alarm clock's top button",
+    "Use the right arm to press the central button on the blue clock with green stripe.",
+    "Activate the clock with black hands by clicking its top button",
+    "Push the central button on the small plastic alarm clock's top side.",
+    "Locate and press the palm-sized dark blue clock's top center button",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Press the dark blue clock's top button using the right arm",
+    "Press the center top button of the square alarm clock",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Push the top button of the alarm clock with green stripe using the right arm",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Point the right arm to press the button of the palm-sized dark blue clock.",
+    "Ensure the right arm clicks the top center button of the white-faced alarm clock",
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "Press the center top button on the clock with white dial with the right arm",
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "Use the right arm to press the clock with white dial's top center button.",
+    "Click the middle button on the clock with black hands's top side",
+    "Press the button on the square alarm clock's top side",
+    "Push the center area of the white-faced alarm clock's top",
+    "Use the right arm to press the square alarm clock button",
+    "Use the right arm to click the center button on the palm-sized dark blue clock",
+    "Push the button on the clock with white dial's top center.",
+    "Touch the clock with white dial's button on the top side.",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Click the center button on the clock with white dial's top side.",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Click the top center button of the white-faced alarm clock",
+    "Click the center of the square alarm clock's top",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "the right arm clicks the center top button on the palm-sized dark blue clock",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Push the top button on the small clock with rounded edges",
+    "Tap the square plastic alarm clock's top button with the right arm",
+    "Use the right arm to press the dark blue clock's top button",
+    "Tap the center button on the blue clock with green stripe.",
+    "Use the right arm to tap the dark blue clock's top center button.",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Click the button centered on the square alarm clock.",
+    "Guide the right arm to press the centered button on the square alarm clock.",
+    "Press the top middle button of the square plastic alarm clock",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Use the right arm to click the top of the clock with white dial",
+    "Use the right arm to activate the palm-sized dark blue clock's button",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Use the right arm to press the center top of the small plastic alarm clock",
+    "Activate the clock with white dial by pressing the top button",
+    "Click the alarm clock with green stripe's top center button using the right arm.",
+    "Hit the center of the dark blue clock's top button",
+    "Use the right arm to press the central button on the clock with black hands.",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Push the central button on the square alarm clock's top side.",
+    "Locate and press the dark blue clock's top center button",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top button center",
+    "Press the alarm clock with green stripe's top button using the right arm",
+    "Press the center top button of the palm-sized dark blue clock",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Push the top button of the palm-sized dark blue clock using the right arm",
+    "the right arm activates the square alarm clock by clicking the top button",
+    "Point the right arm to press the button of the rounded square-shaped alarm clock.",
+    "Ensure the right arm clicks the top center button of the rounded square-shaped alarm clock",
+    "Use the right arm to click the top center button on the rounded square-shaped alarm clock.",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Use the right arm to tap the small clock with rounded edges's central button.",
+    "Use the right arm to press the alarm clock with green stripe's top center button.",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Press the button on the clock with white dial's top side",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Use the right arm to press the palm-sized dark blue clock button",
+    "Use the right arm to click the center button on the clock with black hands",
+    "Push the button on the clock with black hands's top center.",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Activate the clock with black hands by pressing its top",
+    "Press the center button on the square alarm clock's top.",
+    "Click the center button on the clock with black hands's top side.",
+    "Locate and press the top button on the square alarm clock",
+    "Click the top center button of the square plastic alarm clock",
+    "Click the center of the clock with black hands's top"
+  ],
+  "unseen": [
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top center of the alarm clock with smooth finish."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode28.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..f58c34abed04402bd8c9942be1f5c003b0f7b869
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Use the left arm to click the top of the black matte alarm-clock",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Locate and press the compact alarm-clock's top center button",
+    "the left arm clicks the center top button on the black alarm-clock",
+    "Click the top center button of the smooth black alarm-clock",
+    "Use the left arm to press the central button on the alarm-clock with digital display.",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Direct the left arm to click the button found on the palm-sized alarm-clock.",
+    "Press the top middle button of the digital screen alarm-clock",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Click the center of the smooth black alarm-clock's top",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "the left arm presses the center top button on the lightweight plastic alarm-clock",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Push the top button on the smooth black alarm-clock",
+    "Use the left arm to press the alarm-clock with digital display's top button",
+    "Guide the left arm to press the centered button on the compact alarm-clock.",
+    "Use the left arm to click the center button on the alarm-clock with buttons on side",
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Push the top button of the black matte alarm-clock using the left arm",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Click the small alarm-clock's top center button using the left arm.",
+    "Use the left arm to tap the smooth black alarm-clock's top center button.",
+    "Use the left arm to press the palm-sized alarm-clock's top center button.",
+    "Use the left arm to click the top center button on the alarm-clock with rounded edges.",
+    "Use the left arm to tap the alarm-clock with buttons on side's central button.",
+    "Touch the small alarm-clock's button on the top side.",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Tap the center button on the alarm-clock with rounded edges.",
+    "Use the left arm to press the lightweight plastic alarm-clock button",
+    "Touch the black matte alarm-clock's center top button with the left arm",
+    "Push the center area of the alarm-clock with digital display's top",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Push the central button on the black alarm-clock's top side.",
+    "Press the center top button on the alarm-clock with buttons on side with the left arm",
+    "Press the top button in the compact alarm-clock's center.",
+    "Push the button on the black alarm-clock's top center.",
+    "Use the left arm to press the center top of the alarm-clock with digital display",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "the left arm activates the black matte alarm-clock by clicking the top button",
+    "Activate the alarm-clock with rounded edges by clicking its top button",
+    "Ensure the left arm clicks the top center button of the digital screen alarm-clock",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Tap the rectangular alarm-clock's top button with the left arm",
+    "Use the left arm to click the top of the black alarm-clock",
+    "Press the button on the black alarm-clock's top side",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "the left arm clicks the center top button on the compact alarm-clock",
+    "Click the top center button of the black matte alarm-clock",
+    "Use the left arm to press the central button on the black alarm-clock.",
+    "Activate the digital screen alarm-clock by pressing the top button",
+    "Direct the left arm to click the button found on the alarm-clock with rounded edges.",
+    "Press the top middle button of the compact alarm-clock",
+    "Press the top button at the black matte alarm-clock's center.",
+    "Click the button centered on the black matte alarm-clock.",
+    "Click the center of the small alarm-clock's top",
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "the left arm presses the center top button on the lightweight plastic alarm-clock",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Push the top button on the small alarm-clock",
+    "Use the left arm to press the alarm-clock with buttons on side's top button",
+    "Guide the left arm to press the centered button on the black alarm-clock.",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Push the top button of the lightweight plastic alarm-clock using the left arm",
+    "Activate the small alarm-clock by pressing its top",
+    "Click the compact alarm-clock's top center button using the left arm.",
+    "Use the left arm to tap the smooth black alarm-clock's top center button.",
+    "Use the left arm to press the black matte alarm-clock's top center button.",
+    "Use the left arm to click the top center button on the alarm-clock with rounded edges.",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Press the black alarm-clock's top button using the left arm",
+    "Point the left arm to press the button of the black matte alarm-clock.",
+    "Tap the center button on the lightweight plastic alarm-clock.",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Touch the black alarm-clock's center top button with the left arm",
+    "Push the center area of the black alarm-clock's top",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Press the center top button on the black alarm-clock with the left arm",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Push the button on the compact alarm-clock's top center.",
+    "Use the left arm to press the center top of the small alarm-clock",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Activate the small alarm-clock by clicking its top button",
+    "Ensure the left arm clicks the top center button of the compact alarm-clock",
+    "Click the button centered on the black alarm-clock's top."
+  ],
+  "unseen": [
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode29.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..32f56a17edca186f73664b1771ad5dba908bdb5c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the center button on the alarm clock with green stripe.",
+    "the right arm presses the center top button on the small clock with rounded edges",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "Use the right arm to click the top center button on the white-faced alarm clock.",
+    "Use the right arm to press the clock with white dial button",
+    "Press the center top button of the blue clock with green stripe",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Press the blue clock with green stripe's top button using the right arm",
+    "Click the middle button on the square plastic alarm clock's top side",
+    "Locate and press the top button on the clock with black hands",
+    "Touch the square plastic alarm clock's center top button with the right arm",
+    "Push the center area of the square alarm clock's top",
+    "Hit the center of the clock with white dial's top button",
+    "Activate the white-faced alarm clock by pressing its top",
+    "the right arm clicks the center top button on the small plastic alarm clock",
+    "Click the button centered on the clock with black hands.",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Use the right arm to click the top of the palm-sized dark blue clock",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Use the right arm to press the center top of the dark blue clock",
+    "Guide the right arm to press the centered button on the blue clock with green stripe.",
+    "Click the top center button of the clock with white dial",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Push the button on the dark blue clock's top center.",
+    "Press the top middle button of the rounded square-shaped alarm clock",
+    "Point the right arm to press the button of the square alarm clock.",
+    "Use the right arm to tap the palm-sized dark blue clock's top center button.",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Direct the right arm to click the button found on the square plastic alarm clock.",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top button center",
+    "Push the top button of the dark blue clock using the right arm",
+    "Use the right arm to press the blue clock with green stripe's top button",
+    "the right arm activates the palm-sized dark blue clock by clicking the top button",
+    "Tap the small plastic alarm clock's top button with the right arm",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Use the right arm to click the center button on the rounded square-shaped alarm clock",
+    "Push the top button on the square alarm clock",
+    "Press the top button at the rounded square-shaped alarm clock's center.",
+    "Use the right arm to activate the rounded square-shaped alarm clock's button",
+    "Use the right arm to tap the square alarm clock's central button.",
+    "Click the center of the clock with black hands's top",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Touch the white-faced alarm clock's button on the top side.",
+    "Use the right arm to press the central button on the alarm clock with green stripe.",
+    "Press the center top button on the blue clock with green stripe with the right arm",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Click the blue clock with green stripe's top center button using the right arm.",
+    "Tap the center button on the white-faced alarm clock.",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Press the button on the small clock with rounded edges's top side",
+    "Use the right arm to click the top center button on the small plastic alarm clock.",
+    "Use the right arm to press the square alarm clock button",
+    "Press the center top button of the rounded square-shaped alarm clock",
+    "Push the central button on the dark blue clock's top side.",
+    "Press the clock with black hands's top button using the right arm",
+    "Click the middle button on the rounded square-shaped alarm clock's top side",
+    "Locate and press the top button on the blue clock with green stripe",
+    "Touch the dark blue clock's center top button with the right arm",
+    "Push the center area of the white-faced alarm clock's top",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Activate the small plastic alarm clock by pressing its top",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Click the button centered on the small clock with rounded edges.",
+    "Locate and press the dark blue clock's top center button",
+    "Use the right arm to click the top of the clock with white dial",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Use the right arm to press the center top of the blue clock with green stripe",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "Click the top center button of the clock with white dial",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Ensure the right arm clicks the top center button of the small plastic alarm clock",
+    "Press the center button on the clock with white dial's top.",
+    "Push the button on the palm-sized dark blue clock's top center.",
+    "Press the top middle button of the square alarm clock",
+    "Point the right arm to press the button of the alarm clock with green stripe.",
+    "Use the right arm to tap the blue clock with green stripe's top center button.",
+    "Click the button centered on the white-faced alarm clock's top.",
+    "Direct the right arm to click the button found on the palm-sized dark blue clock.",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Push the top button of the white-faced alarm clock using the right arm",
+    "Use the right arm to press the palm-sized dark blue clock's top button",
+    "the right arm activates the square plastic alarm clock by clicking the top button",
+    "Tap the dark blue clock's top button with the right arm",
+    "Tap the button at the white-faced alarm clock's top center.",
+    "Use the right arm to click the center button on the palm-sized dark blue clock",
+    "Push the top button on the white-faced alarm clock",
+    "Press the top button at the white-faced alarm clock's center.",
+    "Use the right arm to activate the square alarm clock's button",
+    "Use the right arm to tap the clock with black hands's central button.",
+    "Click the center of the clock with black hands's top",
+    "Activate the dark blue clock by pressing the top button",
+    "Activate the clock with black hands by clicking its top button",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Press the center top button on the square alarm clock with the right arm",
+    "Press the top button in the alarm clock with green stripe's center.",
+    "Click the blue clock with green stripe's top center button using the right arm."
+  ],
+  "unseen": [
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode3.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3cc75b0db347c645ab0f00ebf87403b21d94534
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "Guide the left arm to press the centered button on the alarm-clock with digital display.",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Push the top button of the alarm-clock with buttons on side using the left arm",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Direct the left arm to click the button found on the black alarm-clock.",
+    "Activate the small alarm-clock by pressing the top button",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Click the alarm-clock with rounded edges's top center button using the left arm.",
+    "Click the middle button on the digital screen alarm-clock's top side",
+    "Use the left arm to press the central button on the smooth black alarm-clock.",
+    "Touch the black alarm-clock's button on the top side.",
+    "Press the center top button on the compact alarm-clock with the left arm",
+    "Use the left arm to click the top center button on the smooth black alarm-clock.",
+    "Push the center area of the small alarm-clock's top",
+    "the left arm clicks the center top button on the rectangular alarm-clock",
+    "Press the button on the small alarm-clock's top side",
+    "Tap the lightweight plastic alarm-clock's top button with the left arm",
+    "Press the top middle button of the black alarm-clock",
+    "Ensure the left arm clicks the top center button of the palm-sized alarm-clock",
+    "Locate and press the top button on the palm-sized alarm-clock",
+    "Push the button on the black alarm-clock's top center.",
+    "Press the center button on the black alarm-clock's top.",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "Click the top center button of the alarm-clock with digital display",
+    "the left arm activates the rectangular alarm-clock by clicking the top button",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Use the left arm to click the top of the digital screen alarm-clock",
+    "Touch the smooth black alarm-clock's center top button with the left arm",
+    "Use the left arm to press the center top of the rectangular alarm-clock",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Use the left arm to press the compact alarm-clock button",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Use the left arm to press the rectangular alarm-clock's top button",
+    "Tap the center button on the black matte alarm-clock.",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Use the left arm to tap the black matte alarm-clock's central button.",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Push the top button on the rectangular alarm-clock",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "the left arm presses the center top button on the rectangular alarm-clock",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Use the left arm to click the center button on the palm-sized alarm-clock",
+    "Click the center button on the rectangular alarm-clock's top side.",
+    "Guide the left arm to press the centered button on the alarm-clock with buttons on side.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Push the top button of the smooth black alarm-clock using the left arm",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Click the black matte alarm-clock's top center button using the left arm.",
+    "Click the middle button on the small alarm-clock's top side",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Press the center top button on the alarm-clock with digital display with the left arm",
+    "Use the left arm to click the top center button on the alarm-clock with rounded edges.",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "the left arm clicks the center top button on the palm-sized alarm-clock",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Tap the black alarm-clock's top button with the left arm",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Press the top button at the alarm-clock with rounded edges's center.",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "the left arm activates the black alarm-clock by clicking the top button",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Use the left arm to click the top of the alarm-clock with rounded edges",
+    "Touch the palm-sized alarm-clock's center top button with the left arm",
+    "Use the left arm to press the center top of the palm-sized alarm-clock",
+    "Press the compact alarm-clock's top button using the left arm",
+    "Tap the button at the smooth black alarm-clock's top center.",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Use the left arm to press the small alarm-clock's top button",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Click the center of the alarm-clock with buttons on side's top",
+    "Use the left arm to tap the compact alarm-clock's central button.",
+    "Point the left arm to press the button of the compact alarm-clock.",
+    "Push the top button on the alarm-clock with buttons on side",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Click the button centered on the alarm-clock with buttons on side.",
+    "Use the left arm to tap the palm-sized alarm-clock's top center button.",
+    "Use the left arm to click the center button on the rectangular alarm-clock"
+  ],
+  "unseen": [
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode30.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..33ac5a6de07343f8a420b27c568291529b17f973
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the button on the alarm-clock with rounded edges's top center.",
+    "Press the center top button on the palm-sized alarm-clock with the left arm",
+    "Activate the small alarm-clock by pressing its top",
+    "Push the central button on the lightweight plastic alarm-clock's top side.",
+    "Point the left arm to press the button of the palm-sized alarm-clock.",
+    "Press the smooth black alarm-clock's top button using the left arm",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Hit the center of the lightweight plastic alarm-clock's top button",
+    "Push the center area of the black alarm-clock's top",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Tap the rectangular alarm-clock's top button with the left arm",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Click the palm-sized alarm-clock's top center button using the left arm.",
+    "Click the top center button of the alarm-clock with digital display",
+    "Push the top button on the smooth black alarm-clock",
+    "Click the center of the digital screen alarm-clock's top",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Press the top button at the lightweight plastic alarm-clock's center.",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Locate and press the black matte alarm-clock's top center button",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Guide the left arm to press the centered button on the compact alarm-clock.",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "Use the left arm to press the palm-sized alarm-clock's top button",
+    "Click the button centered on the small alarm-clock.",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Press the top middle button of the rectangular alarm-clock",
+    "Press the center top button of the black matte alarm-clock",
+    "the left arm presses the center top button on the alarm-clock with buttons on side",
+    "Use the left arm to tap the black alarm-clock's central button.",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Use the left arm to press the center top of the palm-sized alarm-clock",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "the left arm activates the lightweight plastic alarm-clock by clicking the top button",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Use the left arm to tap the small alarm-clock's top center button.",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Use the left arm to activate the digital screen alarm-clock's button",
+    "Use the left arm to press the alarm-clock with rounded edges's top center button.",
+    "Use the left arm to press the small alarm-clock button",
+    "Use the left arm to press the central button on the black alarm-clock.",
+    "Touch the black alarm-clock's button on the top side.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with buttons on side",
+    "Push the top button of the compact alarm-clock using the left arm",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Push the button on the black matte alarm-clock's top center.",
+    "Press the center top button on the smooth black alarm-clock with the left arm",
+    "Activate the lightweight plastic alarm-clock by pressing its top",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Point the left arm to press the button of the compact alarm-clock.",
+    "Press the black matte alarm-clock's top button using the left arm",
+    "Click the button centered on the compact alarm-clock's top.",
+    "Press the center button on the compact alarm-clock's top.",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Push the center area of the alarm-clock with rounded edges's top",
+    "Use the left arm to tap the black alarm-clock's top button center",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Click the lightweight plastic alarm-clock's top center button using the left arm.",
+    "Click the top center button of the compact alarm-clock",
+    "Push the top button on the compact alarm-clock",
+    "Click the center of the small alarm-clock's top",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Locate and press the black alarm-clock's top center button",
+    "the left arm clicks the center top button on the digital screen alarm-clock",
+    "Guide the left arm to press the centered button on the palm-sized alarm-clock.",
+    "Use the left arm to click the center button on the palm-sized alarm-clock",
+    "Use the left arm to press the smooth black alarm-clock's top button",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Press the center top button of the alarm-clock with digital display",
+    "the left arm presses the center top button on the palm-sized alarm-clock",
+    "Use the left arm to tap the black matte alarm-clock's central button.",
+    "Locate and press the top button on the black alarm-clock",
+    "Use the left arm to press the center top of the palm-sized alarm-clock",
+    "Click the middle button on the small alarm-clock's top side",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Tap the center button on the compact alarm-clock.",
+    "Touch the alarm-clock with rounded edges's center top button with the left arm",
+    "Use the left arm to tap the alarm-clock with rounded edges's top center button.",
+    "Use the left arm to click the top of the alarm-clock with buttons on side",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Use the left arm to press the lightweight plastic alarm-clock's top center button.",
+    "Use the left arm to press the black alarm-clock button",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with digital display",
+    "Push the top button of the lightweight plastic alarm-clock using the left arm",
+    "Direct the left arm to click the button found on the alarm-clock with buttons on side."
+  ],
+  "unseen": [
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode33.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e6a77c3c06733e3176d2d36945f7465471f1ba1
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the compact alarm-clock's top center button using the right arm.",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Use the right arm to press the alarm-clock with rounded edges's top button",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Press the center top button on the compact alarm-clock with the right arm",
+    "Touch the alarm-clock with buttons on side's center top button with the right arm",
+    "Locate and press the top button on the compact alarm-clock",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "the right arm presses the center top button on the smooth black alarm-clock",
+    "Use the right arm to tap the digital screen alarm-clock's top center button.",
+    "Push the central button on the small alarm-clock's top side.",
+    "Click the button centered on the small alarm-clock.",
+    "Press the center top button of the alarm-clock with digital display",
+    "Use the right arm to press the palm-sized alarm-clock's top center button.",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Use the right arm to click the top center button on the rectangular alarm-clock.",
+    "Press the top button at the alarm-clock with rounded edges's center.",
+    "Push the top button on the compact alarm-clock",
+    "Push the button on the smooth black alarm-clock's top center.",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Use the right arm to press the central button on the compact alarm-clock.",
+    "Point the right arm to press the button of the rectangular alarm-clock.",
+    "Guide the right arm to press the centered button on the alarm-clock with rounded edges.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Use the right arm to press the center top of the alarm-clock with buttons on side",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Use the right arm to click the top of the rectangular alarm-clock",
+    "Tap the compact alarm-clock's top button with the right arm",
+    "Tap the center button on the alarm-clock with buttons on side.",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Push the top button of the lightweight plastic alarm-clock using the right arm",
+    "Use the right arm to click the center button on the compact alarm-clock",
+    "Press the button on the lightweight plastic alarm-clock's top side",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Direct the right arm to click the button found on the black alarm-clock.",
+    "the right arm clicks the center top button on the alarm-clock with digital display",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Activate the rectangular alarm-clock by clicking its top button",
+    "Click the button centered on the palm-sized alarm-clock's top.",
+    "Click the center of the rectangular alarm-clock's top",
+    "Hit the center of the black alarm-clock's top button",
+    "Push the center area of the alarm-clock with rounded edges's top",
+    "Use the right arm to tap the rectangular alarm-clock's top button center",
+    "Click the center button on the black alarm-clock's top side.",
+    "the right arm activates the alarm-clock with buttons on side by clicking the top button",
+    "Use the right arm to activate the palm-sized alarm-clock's button",
+    "Press the rectangular alarm-clock's top button using the right arm",
+    "Click the rectangular alarm-clock's top center button using the right arm.",
+    "Use the right arm to press the rectangular alarm-clock button",
+    "Use the right arm to press the compact alarm-clock's top button",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Touch the smooth black alarm-clock's button on the top side.",
+    "Press the center top button on the alarm-clock with digital display with the right arm",
+    "Touch the lightweight plastic alarm-clock's center top button with the right arm",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Use the right arm to tap the black matte alarm-clock's central button.",
+    "the right arm presses the center top button on the alarm-clock with buttons on side",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Click the button centered on the black alarm-clock.",
+    "Press the center top button of the alarm-clock with buttons on side",
+    "Use the right arm to press the palm-sized alarm-clock's top center button.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Use the right arm to click the top center button on the black matte alarm-clock.",
+    "Press the top button at the palm-sized alarm-clock's center.",
+    "Push the top button on the rectangular alarm-clock",
+    "Push the button on the alarm-clock with digital display's top center.",
+    "Tap the button at the black alarm-clock's top center.",
+    "Use the right arm to press the central button on the rectangular alarm-clock.",
+    "Point the right arm to press the button of the rectangular alarm-clock.",
+    "Guide the right arm to press the centered button on the smooth black alarm-clock.",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Use the right arm to press the center top of the smooth black alarm-clock",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Use the right arm to click the top of the small alarm-clock",
+    "Tap the alarm-clock with rounded edges's top button with the right arm",
+    "Tap the center button on the digital screen alarm-clock.",
+    "Ensure the right arm clicks the top center button of the small alarm-clock",
+    "Press the top button in the small alarm-clock's center.",
+    "Push the top button of the digital screen alarm-clock using the right arm",
+    "Use the right arm to click the center button on the digital screen alarm-clock",
+    "Press the button on the small alarm-clock's top side",
+    "Press the center button on the black alarm-clock's top.",
+    "Direct the right arm to click the button found on the palm-sized alarm-clock.",
+    "the right arm clicks the center top button on the digital screen alarm-clock",
+    "Activate the rectangular alarm-clock by pressing the top button",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Click the center of the black alarm-clock's top",
+    "Hit the center of the alarm-clock with buttons on side's top button",
+    "Push the center area of the lightweight plastic alarm-clock's top",
+    "Use the right arm to tap the alarm-clock with digital display's top button center",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "the right arm activates the rectangular alarm-clock by clicking the top button",
+    "Use the right arm to activate the small alarm-clock's button",
+    "Press the alarm-clock with rounded edges's top button using the right arm"
+  ],
+  "unseen": [
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the central top button on the alarm-clock for bedside table."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode34.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..be0fd3363faf134d38694b8d76e291e96e7e1b06
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the right arm activates the blue clock with green stripe by clicking the top button",
+    "Point the right arm to press the button of the clock with white dial.",
+    "Activate the palm-sized dark blue clock by pressing its top",
+    "Press the center top button on the dark blue clock with the right arm",
+    "Use the right arm to tap the white-faced alarm clock's top center button.",
+    "Press the center top button of the dark blue clock",
+    "the right arm presses the center top button on the dark blue clock",
+    "Direct the right arm to click the button found on the clock with black hands.",
+    "Press the top middle button of the small clock with rounded edges",
+    "Locate and press the clock with black hands's top center button",
+    "Locate and press the top button on the white-faced alarm clock",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Use the right arm to click the top of the small clock with rounded edges",
+    "Tap the clock with white dial's top button with the right arm",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Push the central button on the clock with white dial's top side.",
+    "Tap the button at the blue clock with green stripe's top center.",
+    "Push the top button on the blue clock with green stripe",
+    "Use the right arm to tap the clock with black hands's central button.",
+    "Press the small plastic alarm clock's top button using the right arm",
+    "Use the right arm to press the alarm clock with green stripe's top button",
+    "Touch the clock with white dial's button on the top side.",
+    "Click the center of the small plastic alarm clock's top",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Use the right arm to click the center button on the square alarm clock",
+    "Push the top button of the clock with black hands using the right arm",
+    "Tap the center button on the small clock with rounded edges.",
+    "Guide the right arm to press the centered button on the palm-sized dark blue clock.",
+    "Use the right arm to press the central button on the alarm clock with green stripe.",
+    "Hit the center of the alarm clock with green stripe's top button",
+    "Press the button on the small plastic alarm clock's top side",
+    "Click the center button on the square plastic alarm clock's top side.",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "Use the right arm to click the top center button on the clock with white dial.",
+    "Click the top center button of the palm-sized dark blue clock",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Use the right arm to activate the rounded square-shaped alarm clock's button",
+    "Push the center area of the clock with black hands's top",
+    "Push the button on the alarm clock with green stripe's top center.",
+    "Use the right arm to press the dark blue clock button",
+    "Use the right arm to press the palm-sized dark blue clock's top center button.",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Click the button centered on the square plastic alarm clock.",
+    "Use the right arm to tap the square plastic alarm clock's top button center",
+    "Use the right arm to press the center top of the square plastic alarm clock",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Press the top button at the clock with black hands's center.",
+    "the right arm activates the square plastic alarm clock by clicking the top button",
+    "Point the right arm to press the button of the white-faced alarm clock.",
+    "Activate the dark blue clock by pressing its top",
+    "Press the center top button on the square alarm clock with the right arm",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Press the center top button of the square plastic alarm clock",
+    "the right arm presses the center top button on the white-faced alarm clock",
+    "Direct the right arm to click the button found on the blue clock with green stripe.",
+    "Press the top middle button of the blue clock with green stripe",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Locate and press the top button on the dark blue clock",
+    "the right arm clicks the center top button on the dark blue clock",
+    "Use the right arm to click the top of the white-faced alarm clock",
+    "Tap the alarm clock with green stripe's top button with the right arm",
+    "Click the palm-sized dark blue clock's top center button using the right arm.",
+    "Push the central button on the white-faced alarm clock's top side.",
+    "Tap the button at the square plastic alarm clock's top center.",
+    "Push the top button on the white-faced alarm clock",
+    "Use the right arm to tap the alarm clock with green stripe's central button.",
+    "Press the alarm clock with green stripe's top button using the right arm",
+    "Use the right arm to press the rounded square-shaped alarm clock's top button",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Click the center of the blue clock with green stripe's top",
+    "Activate the dark blue clock by pressing the top button",
+    "Press the top button in the small clock with rounded edges's center.",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Push the top button of the small plastic alarm clock using the right arm",
+    "Tap the center button on the square plastic alarm clock.",
+    "Guide the right arm to press the centered button on the palm-sized dark blue clock.",
+    "Use the right arm to press the central button on the small plastic alarm clock.",
+    "Hit the center of the dark blue clock's top button",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "Click the center button on the clock with black hands's top side.",
+    "Touch the square alarm clock's center top button with the right arm",
+    "Use the right arm to click the top center button on the clock with white dial.",
+    "Click the top center button of the square plastic alarm clock",
+    "Click the button centered on the clock with white dial's top.",
+    "Use the right arm to activate the blue clock with green stripe's button",
+    "Push the center area of the alarm clock with green stripe's top",
+    "Push the button on the square alarm clock's top center.",
+    "Use the right arm to press the blue clock with green stripe button",
+    "Use the right arm to press the rounded square-shaped alarm clock's top center button.",
+    "Activate the palm-sized dark blue clock by clicking its top button",
+    "Press the center button on the small clock with rounded edges's top.",
+    "Click the middle button on the dark blue clock's top side",
+    "Click the button centered on the dark blue clock.",
+    "Use the right arm to tap the palm-sized dark blue clock's top button center",
+    "Use the right arm to press the center top of the clock with black hands",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "Press the top button at the palm-sized dark blue clock's center."
+  ],
+  "unseen": [
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the compact alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the center top button of the alarm clock with smooth finish"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode35.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..b06a71e84bf86a904aab543f2ded3eb56134f317
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hit the center of the compact alarm-clock's top button",
+    "Ensure the left arm clicks the top center button of the rectangular alarm-clock",
+    "Press the top button in the alarm-clock with buttons on side's center.",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Use the left arm to press the compact alarm-clock's top center button.",
+    "Push the top button of the alarm-clock with buttons on side using the left arm",
+    "Push the button on the black alarm-clock's top center.",
+    "Click the compact alarm-clock's top center button using the left arm.",
+    "Use the left arm to press the alarm-clock with digital display's top button",
+    "Direct the left arm to click the button found on the palm-sized alarm-clock.",
+    "Use the left arm to press the smooth black alarm-clock button",
+    "Use the left arm to click the top of the black matte alarm-clock",
+    "Press the center top button of the black alarm-clock",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Use the left arm to press the central button on the digital screen alarm-clock.",
+    "Use the left arm to tap the alarm-clock with rounded edges's central button.",
+    "Use the left arm to tap the alarm-clock with buttons on side's top button center",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Click the center button on the black alarm-clock's top side.",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Press the top middle button of the alarm-clock with buttons on side",
+    "Activate the smooth black alarm-clock by pressing the top button",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Push the top button on the alarm-clock with digital display",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Use the left arm to tap the alarm-clock with digital display's top center button.",
+    "Click the center of the smooth black alarm-clock's top",
+    "Touch the smooth black alarm-clock's center top button with the left arm",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Tap the alarm-clock with buttons on side's top button with the left arm",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Point the left arm to press the button of the palm-sized alarm-clock.",
+    "the left arm clicks the center top button on the black matte alarm-clock",
+    "Press the center top button on the alarm-clock with buttons on side with the left arm",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Click the top center button of the alarm-clock with buttons on side",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Locate and press the lightweight plastic alarm-clock's top center button",
+    "Guide the left arm to press the centered button on the lightweight plastic alarm-clock.",
+    "Press the small alarm-clock's top button using the left arm",
+    "Use the left arm to click the top center button on the black matte alarm-clock.",
+    "the left arm activates the alarm-clock with digital display by clicking the top button",
+    "Click the button centered on the alarm-clock with buttons on side.",
+    "Use the left arm to press the center top of the alarm-clock with digital display",
+    "Use the left arm to click the center button on the palm-sized alarm-clock",
+    "Use the left arm to activate the smooth black alarm-clock's button",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Ensure the left arm clicks the top center button of the smooth black alarm-clock",
+    "Press the top button in the lightweight plastic alarm-clock's center.",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "Push the top button of the palm-sized alarm-clock using the left arm",
+    "Push the button on the black alarm-clock's top center.",
+    "Click the lightweight plastic alarm-clock's top center button using the left arm.",
+    "Use the left arm to press the compact alarm-clock's top button",
+    "Direct the left arm to click the button found on the alarm-clock with rounded edges.",
+    "Use the left arm to press the rectangular alarm-clock button",
+    "Use the left arm to click the top of the small alarm-clock",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Use the left arm to press the central button on the digital screen alarm-clock.",
+    "Use the left arm to tap the alarm-clock with digital display's central button.",
+    "Use the left arm to tap the compact alarm-clock's top button center",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Press the center button on the compact alarm-clock's top.",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Press the top button at the smooth black alarm-clock's center.",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Push the top button on the smooth black alarm-clock",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Use the left arm to tap the small alarm-clock's top center button.",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Touch the small alarm-clock's center top button with the left arm",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Tap the alarm-clock with rounded edges's top button with the left arm",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Press the center top button on the rectangular alarm-clock with the left arm",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "the left arm presses the center top button on the small alarm-clock",
+    "Press the button on the alarm-clock with buttons on side's top side",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Guide the left arm to press the centered button on the black alarm-clock.",
+    "Press the lightweight plastic alarm-clock's top button using the left arm",
+    "Use the left arm to click the top center button on the black alarm-clock.",
+    "the left arm activates the black alarm-clock by clicking the top button",
+    "Click the button centered on the alarm-clock with digital display.",
+    "Use the left arm to press the center top of the smooth black alarm-clock",
+    "Use the left arm to click the center button on the black matte alarm-clock",
+    "Use the left arm to activate the alarm-clock with digital display's button"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode36.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..80050980f34a5a9f12f7d3641461105a299d27b9
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the button centered on the digital screen alarm-clock.",
+    "Press the top button at the rectangular alarm-clock's center.",
+    "Activate the black alarm-clock by pressing its top",
+    "Use the right arm to press the digital screen alarm-clock's top button",
+    "Click the center of the small alarm-clock's top",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Locate and press the black matte alarm-clock's top center button",
+    "Push the top button on the compact alarm-clock",
+    "the right arm activates the small alarm-clock by clicking the top button",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Use the right arm to click the top center button on the compact alarm-clock.",
+    "Click the compact alarm-clock's top center button using the right arm.",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Click the center button on the black alarm-clock's top side.",
+    "the right arm presses the center top button on the palm-sized alarm-clock",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "Use the right arm to press the center top of the black alarm-clock",
+    "Point the right arm to press the button of the palm-sized alarm-clock.",
+    "the right arm clicks the center top button on the alarm-clock with digital display",
+    "Click the top center button of the digital screen alarm-clock",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Press the top middle button of the palm-sized alarm-clock",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Ensure the right arm clicks the top center button of the rectangular alarm-clock",
+    "Use the right arm to click the top of the digital screen alarm-clock",
+    "Direct the right arm to click the button found on the compact alarm-clock.",
+    "Tap the small alarm-clock's top button with the right arm",
+    "Press the center top button of the alarm-clock with digital display",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Use the right arm to tap the digital screen alarm-clock's top center button.",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Push the top button of the lightweight plastic alarm-clock using the right arm",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Use the right arm to click the center button on the compact alarm-clock",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Use the right arm to tap the digital screen alarm-clock's top button center",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Use the right arm to activate the alarm-clock with digital display's button",
+    "Hit the center of the small alarm-clock's top button",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Use the right arm to press the central button on the small alarm-clock.",
+    "Tap the center button on the palm-sized alarm-clock.",
+    "Touch the small alarm-clock's center top button with the right arm",
+    "Press the alarm-clock with digital display's top button using the right arm",
+    "Use the right arm to press the digital screen alarm-clock's top center button.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Guide the right arm to press the centered button on the alarm-clock with buttons on side.",
+    "Click the button centered on the small alarm-clock.",
+    "Press the top button at the smooth black alarm-clock's center.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Use the right arm to press the lightweight plastic alarm-clock's top button",
+    "Click the center of the smooth black alarm-clock's top",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Locate and press the smooth black alarm-clock's top center button",
+    "Push the top button on the digital screen alarm-clock",
+    "the right arm activates the alarm-clock with rounded edges by clicking the top button",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Use the right arm to click the top center button on the alarm-clock with rounded edges.",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Press the center top button on the lightweight plastic alarm-clock with the right arm",
+    "Click the center button on the digital screen alarm-clock's top side.",
+    "the right arm presses the center top button on the black matte alarm-clock",
+    "Use the right arm to tap the alarm-clock with digital display's central button.",
+    "Use the right arm to press the center top of the small alarm-clock",
+    "Point the right arm to press the button of the black matte alarm-clock.",
+    "the right arm clicks the center top button on the lightweight plastic alarm-clock",
+    "Click the top center button of the small alarm-clock",
+    "Activate the lightweight plastic alarm-clock by clicking its top button",
+    "Press the top middle button of the black matte alarm-clock",
+    "Push the center area of the small alarm-clock's top",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Ensure the right arm clicks the top center button of the black matte alarm-clock",
+    "Use the right arm to click the top of the alarm-clock with rounded edges",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "Tap the black alarm-clock's top button with the right arm",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Locate and press the top button on the rectangular alarm-clock",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Use the right arm to tap the smooth black alarm-clock's top center button.",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Push the top button of the alarm-clock with digital display using the right arm",
+    "Push the button on the compact alarm-clock's top center.",
+    "Use the right arm to click the center button on the lightweight plastic alarm-clock",
+    "Push the central button on the alarm-clock with rounded edges's top side.",
+    "Use the right arm to tap the digital screen alarm-clock's top button center",
+    "Use the right arm to press the black alarm-clock button",
+    "Use the right arm to activate the alarm-clock with buttons on side's button",
+    "Hit the center of the smooth black alarm-clock's top button",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "Use the right arm to press the central button on the small alarm-clock.",
+    "Tap the center button on the black alarm-clock.",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Press the compact alarm-clock's top button using the right arm",
+    "Use the right arm to press the alarm-clock with buttons on side's top center button.",
+    "Press the center button on the small alarm-clock's top.",
+    "Guide the right arm to press the centered button on the rectangular alarm-clock."
+  ],
+  "unseen": [
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode37.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..d393a8b9f1ef096c5fb0100a978814d8ab220c90
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Click the top center button of the dark blue clock",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Touch the blue clock with green stripe's center top button with the right arm",
+    "Use the right arm to click the top of the square alarm clock",
+    "Use the right arm to press the center top of the palm-sized dark blue clock",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "the right arm presses the center top button on the white-faced alarm clock",
+    "Press the top middle button of the square plastic alarm clock",
+    "Press the center button on the alarm clock with green stripe's top.",
+    "Click the center of the small clock with rounded edges's top",
+    "Use the right arm to tap the clock with white dial's top center button.",
+    "Click the button centered on the clock with white dial.",
+    "Use the right arm to press the square plastic alarm clock's top center button.",
+    "Activate the clock with black hands by pressing the top button",
+    "Ensure the right arm clicks the top center button of the square alarm clock",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Click the dark blue clock's top center button using the right arm.",
+    "Use the right arm to press the central button on the square alarm clock.",
+    "Press the center top button on the dark blue clock with the right arm",
+    "Use the right arm to click the top center button on the dark blue clock.",
+    "Press the center top button of the alarm clock with green stripe",
+    "Tap the alarm clock with green stripe's top button with the right arm",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Locate and press the blue clock with green stripe's top center button",
+    "Activate the alarm clock with green stripe by pressing its top",
+    "Point the right arm to press the button of the white-faced alarm clock.",
+    "Use the right arm to activate the dark blue clock's button",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Use the right arm to press the palm-sized dark blue clock button",
+    "Press the clock with black hands's top button using the right arm",
+    "Guide the right arm to press the centered button on the square plastic alarm clock.",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Locate and press the top button on the palm-sized dark blue clock",
+    "Use the right arm to press the white-faced alarm clock's top button",
+    "Push the top button on the square plastic alarm clock",
+    "Push the center area of the square plastic alarm clock's top",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "Tap the center button on the square plastic alarm clock.",
+    "Push the top button of the white-faced alarm clock using the right arm",
+    "Use the right arm to tap the dark blue clock's central button.",
+    "Push the button on the square plastic alarm clock's top center.",
+    "the right arm activates the alarm clock with green stripe by clicking the top button",
+    "Activate the clock with black hands by clicking its top button",
+    "Press the top button in the dark blue clock's center.",
+    "Use the right arm to tap the square plastic alarm clock's top button center",
+    "Direct the right arm to click the button found on the clock with white dial.",
+    "Touch the dark blue clock's button on the top side.",
+    "Click the top center button of the clock with black hands",
+    "Click the middle button on the square alarm clock's top side",
+    "Click the center button on the rounded square-shaped alarm clock's top side.",
+    "Touch the clock with black hands's center top button with the right arm",
+    "Use the right arm to click the top of the square alarm clock",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Tap the button at the clock with white dial's top center.",
+    "the right arm presses the center top button on the alarm clock with green stripe",
+    "Press the top middle button of the blue clock with green stripe",
+    "Press the center button on the clock with black hands's top.",
+    "Click the center of the square plastic alarm clock's top",
+    "Use the right arm to tap the small clock with rounded edges's top center button.",
+    "Click the button centered on the square alarm clock.",
+    "Use the right arm to press the small clock with rounded edges's top center button.",
+    "Activate the clock with black hands by pressing the top button",
+    "Ensure the right arm clicks the top center button of the dark blue clock",
+    "Push the central button on the alarm clock with green stripe's top side.",
+    "Press the top button at the small plastic alarm clock's center.",
+    "Click the square alarm clock's top center button using the right arm.",
+    "Use the right arm to press the central button on the white-faced alarm clock.",
+    "Press the center top button on the blue clock with green stripe with the right arm",
+    "Use the right arm to click the top center button on the palm-sized dark blue clock.",
+    "Press the center top button of the square alarm clock",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Hit the center of the small clock with rounded edges's top button",
+    "Locate and press the small plastic alarm clock's top center button",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Point the right arm to press the button of the alarm clock with green stripe.",
+    "Use the right arm to activate the small clock with rounded edges's button",
+    "the right arm clicks the center top button on the clock with white dial",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Press the rounded square-shaped alarm clock's top button using the right arm",
+    "Guide the right arm to press the centered button on the dark blue clock.",
+    "Use the right arm to click the center button on the square alarm clock",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Use the right arm to press the blue clock with green stripe's top button",
+    "Push the top button on the square plastic alarm clock",
+    "Push the center area of the dark blue clock's top",
+    "Click the button centered on the small plastic alarm clock's top.",
+    "Press the button on the white-faced alarm clock's top side",
+    "Tap the center button on the clock with black hands.",
+    "Push the top button of the small plastic alarm clock using the right arm",
+    "Use the right arm to tap the small clock with rounded edges's central button.",
+    "Push the button on the clock with black hands's top center.",
+    "the right arm activates the square alarm clock by clicking the top button",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Use the right arm to tap the blue clock with green stripe's top button center",
+    "Direct the right arm to click the button found on the alarm clock with green stripe."
+  ],
+  "unseen": [
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the central top button on the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the central top button on the compact alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the top button on the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode39.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed84536269571c58165701454049e15131365912
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Click the rectangular alarm-clock's top center button using the left arm.",
+    "Use the left arm to tap the alarm-clock with digital display's top button center",
+    "Point the left arm to press the button of the lightweight plastic alarm-clock.",
+    "Locate and press the top button on the compact alarm-clock",
+    "Touch the small alarm-clock's button on the top side.",
+    "Press the button on the palm-sized alarm-clock's top side",
+    "Use the left arm to activate the alarm-clock with buttons on side's button",
+    "the left arm presses the center top button on the digital screen alarm-clock",
+    "Push the central button on the black matte alarm-clock's top side.",
+    "Activate the palm-sized alarm-clock by pressing its top",
+    "Use the left arm to press the compact alarm-clock's top center button.",
+    "Use the left arm to click the top of the smooth black alarm-clock",
+    "Push the center area of the palm-sized alarm-clock's top",
+    "Press the center top button on the lightweight plastic alarm-clock with the left arm",
+    "Press the top middle button of the alarm-clock with digital display",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Use the left arm to press the smooth black alarm-clock button",
+    "Press the center button on the alarm-clock with buttons on side's top.",
+    "Use the left arm to press the smooth black alarm-clock's top button",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Use the left arm to click the top center button on the alarm-clock with rounded edges.",
+    "Press the center top button of the black alarm-clock",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "the left arm clicks the center top button on the lightweight plastic alarm-clock",
+    "Use the left arm to click the center button on the digital screen alarm-clock",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Tap the alarm-clock with digital display's top button with the left arm",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Click the middle button on the black matte alarm-clock's top side",
+    "Click the button centered on the alarm-clock with buttons on side.",
+    "Push the top button on the small alarm-clock",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Use the left arm to press the center top of the black alarm-clock",
+    "Activate the compact alarm-clock by pressing the top button",
+    "Direct the left arm to click the button found on the smooth black alarm-clock.",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Ensure the left arm clicks the top center button of the rectangular alarm-clock",
+    "Click the button centered on the alarm-clock with rounded edges's top.",
+    "the left arm activates the black matte alarm-clock by clicking the top button",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Push the top button of the digital screen alarm-clock using the left arm",
+    "Touch the digital screen alarm-clock's center top button with the left arm",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Use the left arm to tap the alarm-clock with rounded edges's top center button.",
+    "Press the top button in the smooth black alarm-clock's center.",
+    "Press the alarm-clock with digital display's top button using the left arm",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Hit the center of the black alarm-clock's top button",
+    "Guide the left arm to press the centered button on the rectangular alarm-clock.",
+    "Click the black alarm-clock's top center button using the left arm.",
+    "Use the left arm to tap the rectangular alarm-clock's top button center",
+    "Point the left arm to press the button of the alarm-clock with digital display.",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Touch the alarm-clock with buttons on side's button on the top side.",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Use the left arm to activate the smooth black alarm-clock's button",
+    "the left arm presses the center top button on the alarm-clock with digital display",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Activate the black alarm-clock by pressing its top",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "Use the left arm to click the top of the alarm-clock with rounded edges",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Press the center top button on the compact alarm-clock with the left arm",
+    "Press the top middle button of the compact alarm-clock",
+    "Activate the small alarm-clock by clicking its top button",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Use the left arm to press the black alarm-clock button",
+    "Press the center button on the black alarm-clock's top.",
+    "Use the left arm to press the small alarm-clock's top button",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Use the left arm to click the top center button on the alarm-clock with digital display.",
+    "Press the center top button of the smooth black alarm-clock",
+    "Use the left arm to press the central button on the alarm-clock with buttons on side.",
+    "the left arm clicks the center top button on the rectangular alarm-clock",
+    "Use the left arm to click the center button on the lightweight plastic alarm-clock",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Tap the small alarm-clock's top button with the left arm",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Click the middle button on the compact alarm-clock's top side",
+    "Click the button centered on the compact alarm-clock.",
+    "Push the top button on the alarm-clock with rounded edges",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Use the left arm to press the center top of the smooth black alarm-clock",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Direct the left arm to click the button found on the palm-sized alarm-clock.",
+    "Use the left arm to tap the black matte alarm-clock's central button.",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Click the button centered on the small alarm-clock's top.",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Push the top button of the palm-sized alarm-clock using the left arm",
+    "Touch the black matte alarm-clock's center top button with the left arm",
+    "Locate and press the palm-sized alarm-clock's top center button",
+    "Use the left arm to tap the compact alarm-clock's top center button.",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Press the palm-sized alarm-clock's top button using the left arm",
+    "Tap the button at the digital screen alarm-clock's top center.",
+    "Hit the center of the rectangular alarm-clock's top button"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top button on the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top button on the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode41.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..8390b83c427cc7f26b4aecbbed1757787905fee0
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hit the center of the square alarm clock's top button",
+    "Activate the small plastic alarm clock by pressing its top",
+    "Touch the white-faced alarm clock's button on the top side.",
+    "Tap the center button on the white-faced alarm clock.",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Touch the blue clock with green stripe's center top button with the right arm",
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "Click the clock with white dial's top center button using the right arm.",
+    "Push the top button of the alarm clock with green stripe using the right arm",
+    "Activate the clock with black hands by clicking its top button",
+    "Click the button centered on the palm-sized dark blue clock's top.",
+    "Use the right arm to tap the clock with black hands's top center button.",
+    "Point the right arm to press the button of the clock with black hands.",
+    "Press the center top button on the blue clock with green stripe with the right arm",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Click the button centered on the square alarm clock.",
+    "Click the middle button on the square alarm clock's top side",
+    "Press the button on the rounded square-shaped alarm clock's top side",
+    "Use the right arm to press the central button on the palm-sized dark blue clock.",
+    "Use the right arm to click the top center button on the dark blue clock.",
+    "Push the top button on the clock with black hands",
+    "Push the center area of the small plastic alarm clock's top",
+    "Press the center top button of the small clock with rounded edges",
+    "Locate and press the top button on the clock with white dial",
+    "Use the right arm to press the center top of the small plastic alarm clock",
+    "Use the right arm to press the alarm clock with green stripe's top button",
+    "Click the center of the white-faced alarm clock's top",
+    "Use the right arm to click the center button on the palm-sized dark blue clock",
+    "the right arm activates the small clock with rounded edges by clicking the top button",
+    "Press the center button on the square plastic alarm clock's top.",
+    "Locate and press the alarm clock with green stripe's top center button",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Tap the white-faced alarm clock's top button with the right arm",
+    "Use the right arm to click the top of the alarm clock with green stripe",
+    "Press the top button in the square plastic alarm clock's center.",
+    "Direct the right arm to click the button found on the rounded square-shaped alarm clock.",
+    "Press the top middle button of the square alarm clock",
+    "Use the right arm to press the small plastic alarm clock button",
+    "Guide the right arm to press the centered button on the alarm clock with green stripe.",
+    "the right arm presses the center top button on the clock with white dial",
+    "Press the small plastic alarm clock's top button using the right arm",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Click the top center button of the small plastic alarm clock",
+    "Use the right arm to tap the blue clock with green stripe's top button center",
+    "Click the center button on the square alarm clock's top side.",
+    "Ensure the right arm clicks the top center button of the clock with white dial",
+    "the right arm clicks the center top button on the dark blue clock",
+    "Use the right arm to press the clock with black hands's top center button.",
+    "Use the right arm to activate the clock with black hands's button",
+    "Hit the center of the blue clock with green stripe's top button",
+    "Activate the palm-sized dark blue clock by pressing its top",
+    "Touch the square alarm clock's button on the top side.",
+    "Tap the center button on the rounded square-shaped alarm clock.",
+    "Push the central button on the small plastic alarm clock's top side.",
+    "Touch the square plastic alarm clock's center top button with the right arm",
+    "Use the right arm to tap the palm-sized dark blue clock's central button.",
+    "Click the clock with black hands's top center button using the right arm.",
+    "Push the top button of the rounded square-shaped alarm clock using the right arm",
+    "Activate the dark blue clock by clicking its top button",
+    "Click the button centered on the square alarm clock's top.",
+    "Use the right arm to tap the rounded square-shaped alarm clock's top center button.",
+    "Point the right arm to press the button of the dark blue clock.",
+    "Press the center top button on the white-faced alarm clock with the right arm",
+    "Tap the button at the dark blue clock's top center.",
+    "Click the button centered on the small plastic alarm clock.",
+    "Click the middle button on the clock with white dial's top side",
+    "Press the button on the square alarm clock's top side",
+    "Use the right arm to press the central button on the palm-sized dark blue clock.",
+    "Use the right arm to click the top center button on the palm-sized dark blue clock.",
+    "Push the top button on the alarm clock with green stripe",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Press the center top button of the alarm clock with green stripe",
+    "Locate and press the top button on the clock with black hands",
+    "Use the right arm to press the center top of the clock with black hands",
+    "Use the right arm to press the white-faced alarm clock's top button",
+    "Click the center of the blue clock with green stripe's top",
+    "Use the right arm to click the center button on the rounded square-shaped alarm clock",
+    "the right arm activates the dark blue clock by clicking the top button",
+    "Press the center button on the square plastic alarm clock's top.",
+    "Locate and press the rounded square-shaped alarm clock's top center button",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Tap the blue clock with green stripe's top button with the right arm",
+    "Use the right arm to click the top of the small plastic alarm clock",
+    "Press the top button in the square alarm clock's center.",
+    "Direct the right arm to click the button found on the small clock with rounded edges.",
+    "Press the top middle button of the dark blue clock",
+    "Use the right arm to press the square alarm clock button",
+    "Guide the right arm to press the centered button on the square plastic alarm clock.",
+    "the right arm presses the center top button on the clock with black hands",
+    "Press the alarm clock with green stripe's top button using the right arm",
+    "Activate the rounded square-shaped alarm clock by pressing the top button",
+    "Click the top center button of the blue clock with green stripe",
+    "Use the right arm to tap the square plastic alarm clock's top button center",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Ensure the right arm clicks the top center button of the dark blue clock",
+    "the right arm clicks the center top button on the blue clock with green stripe",
+    "Use the right arm to press the palm-sized dark blue clock's top center button.",
+    "Use the right arm to activate the clock with black hands's button"
+  ],
+  "unseen": [
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode43.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d7611625f8413d09923ba142f2069acd2addbb
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the button on the black alarm-clock's top center.",
+    "Use the left arm to press the smooth black alarm-clock button",
+    "Use the left arm to press the smooth black alarm-clock's top button",
+    "Press the top button in the black matte alarm-clock's center.",
+    "Use the left arm to tap the rectangular alarm-clock's top button center",
+    "Touch the alarm-clock with digital display's center top button with the left arm",
+    "Use the left arm to tap the lightweight plastic alarm-clock's central button.",
+    "Direct the left arm to click the button found on the digital screen alarm-clock.",
+    "the left arm presses the center top button on the black alarm-clock",
+    "Guide the left arm to press the centered button on the small alarm-clock.",
+    "Click the button centered on the rectangular alarm-clock.",
+    "Tap the palm-sized alarm-clock's top button with the left arm",
+    "Use the left arm to tap the digital screen alarm-clock's top center button.",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Use the left arm to press the center top of the smooth black alarm-clock",
+    "Press the top middle button of the small alarm-clock",
+    "Press the center top button of the compact alarm-clock",
+    "Hit the center of the alarm-clock with rounded edges's top button",
+    "Click the black matte alarm-clock's top center button using the left arm.",
+    "Push the center area of the alarm-clock with buttons on side's top",
+    "Activate the digital screen alarm-clock by pressing its top",
+    "Use the left arm to press the central button on the smooth black alarm-clock.",
+    "the left arm clicks the center top button on the digital screen alarm-clock",
+    "Point the left arm to press the button of the smooth black alarm-clock.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Click the top center button of the rectangular alarm-clock",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Touch the alarm-clock with rounded edges's button on the top side.",
+    "Use the left arm to click the top of the black alarm-clock",
+    "Use the left arm to activate the palm-sized alarm-clock's button",
+    "Click the center button on the palm-sized alarm-clock's top side.",
+    "Ensure the left arm clicks the top center button of the alarm-clock with buttons on side",
+    "Push the top button of the black alarm-clock using the left arm",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Press the alarm-clock with rounded edges's top button using the left arm",
+    "Use the left arm to click the center button on the small alarm-clock",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Use the left arm to press the smooth black alarm-clock's top center button.",
+    "Press the center top button on the lightweight plastic alarm-clock with the left arm",
+    "the left arm activates the compact alarm-clock by clicking the top button",
+    "Push the top button on the alarm-clock with digital display",
+    "Use the left arm to click the top center button on the rectangular alarm-clock.",
+    "Click the center of the palm-sized alarm-clock's top",
+    "Tap the button at the rectangular alarm-clock's top center.",
+    "Tap the center button on the black alarm-clock.",
+    "Press the top button at the smooth black alarm-clock's center.",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Press the button on the alarm-clock with digital display's top side",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Push the button on the lightweight plastic alarm-clock's top center.",
+    "Use the left arm to press the black matte alarm-clock button",
+    "Use the left arm to press the alarm-clock with rounded edges's top button",
+    "Press the top button in the digital screen alarm-clock's center.",
+    "Use the left arm to tap the black matte alarm-clock's top button center",
+    "Touch the lightweight plastic alarm-clock's center top button with the left arm",
+    "Use the left arm to tap the alarm-clock with buttons on side's central button.",
+    "Direct the left arm to click the button found on the small alarm-clock.",
+    "the left arm presses the center top button on the small alarm-clock",
+    "Guide the left arm to press the centered button on the black alarm-clock.",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Tap the alarm-clock with rounded edges's top button with the left arm",
+    "Use the left arm to tap the small alarm-clock's top center button.",
+    "Activate the black matte alarm-clock by clicking its top button",
+    "Use the left arm to press the center top of the black alarm-clock",
+    "Press the top middle button of the black matte alarm-clock",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "Hit the center of the black alarm-clock's top button",
+    "Click the alarm-clock with rounded edges's top center button using the left arm.",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Use the left arm to press the central button on the lightweight plastic alarm-clock.",
+    "the left arm clicks the center top button on the black matte alarm-clock",
+    "Point the left arm to press the button of the compact alarm-clock.",
+    "Activate the black alarm-clock by pressing the top button",
+    "Locate and press the top button on the lightweight plastic alarm-clock",
+    "Click the top center button of the rectangular alarm-clock",
+    "Push the central button on the rectangular alarm-clock's top side.",
+    "Touch the digital screen alarm-clock's button on the top side.",
+    "Use the left arm to click the top of the compact alarm-clock",
+    "Use the left arm to activate the black alarm-clock's button",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Ensure the left arm clicks the top center button of the small alarm-clock",
+    "Push the top button of the alarm-clock with buttons on side using the left arm",
+    "Click the middle button on the black alarm-clock's top side",
+    "Press the digital screen alarm-clock's top button using the left arm",
+    "Use the left arm to click the center button on the compact alarm-clock",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Use the left arm to press the alarm-clock with rounded edges's top center button.",
+    "Press the center top button on the black alarm-clock with the left arm",
+    "the left arm activates the smooth black alarm-clock by clicking the top button",
+    "Push the top button on the black alarm-clock",
+    "Use the left arm to click the top center button on the alarm-clock with digital display.",
+    "Click the center of the rectangular alarm-clock's top",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Tap the center button on the black alarm-clock.",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Locate and press the palm-sized alarm-clock's top center button"
+  ],
+  "unseen": [
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode44.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..18703e0f872ce45dcdf2b4fdbc7894006ec8316e
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top button in the clock with black hands's center.",
+    "Use the left arm to click the center button on the rounded square-shaped alarm clock",
+    "Use the left arm to press the central button on the square plastic alarm clock.",
+    "Click the center button on the alarm clock with green stripe's top side.",
+    "Touch the alarm clock with green stripe's button on the top side.",
+    "Tap the alarm clock with green stripe's top button with the left arm",
+    "Direct the left arm to click the button found on the rounded square-shaped alarm clock.",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Press the top middle button of the square alarm clock",
+    "Use the left arm to activate the blue clock with green stripe's button",
+    "Use the left arm to tap the clock with white dial's central button.",
+    "Use the left arm to press the square plastic alarm clock's top button",
+    "Ensure the left arm clicks the top center button of the dark blue clock",
+    "Tap the center button on the small plastic alarm clock.",
+    "Push the top button of the square plastic alarm clock using the left arm",
+    "Use the left arm to click the top center button on the alarm clock with green stripe.",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Use the left arm to tap the small plastic alarm clock's top center button.",
+    "Press the center top button of the dark blue clock",
+    "Press the button on the clock with black hands's top side",
+    "Push the center area of the small plastic alarm clock's top",
+    "Click the square plastic alarm clock's top center button using the left arm.",
+    "Press the square alarm clock's top button using the left arm",
+    "Click the button centered on the dark blue clock's top.",
+    "the left arm activates the alarm clock with green stripe by clicking the top button",
+    "Activate the clock with black hands by pressing its top",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Push the central button on the dark blue clock's top side.",
+    "Use the left arm to click the top of the blue clock with green stripe",
+    "Guide the left arm to press the centered button on the clock with black hands.",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Activate the square plastic alarm clock by pressing the top button",
+    "Press the center button on the blue clock with green stripe's top.",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Use the left arm to press the center top of the alarm clock with green stripe",
+    "the left arm clicks the center top button on the rounded square-shaped alarm clock",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Push the button on the small plastic alarm clock's top center.",
+    "the left arm presses the center top button on the alarm clock with green stripe",
+    "Click the top center button of the square plastic alarm clock",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Press the center top button on the dark blue clock with the left arm",
+    "Use the left arm to press the square alarm clock's top center button.",
+    "Locate and press the blue clock with green stripe's top center button",
+    "Use the left arm to tap the white-faced alarm clock's top button center",
+    "Click the button centered on the clock with white dial.",
+    "Use the left arm to press the blue clock with green stripe button",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Push the top button on the white-faced alarm clock",
+    "Press the top button in the clock with black hands's center.",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Use the left arm to press the central button on the palm-sized dark blue clock.",
+    "Click the center button on the dark blue clock's top side.",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Tap the white-faced alarm clock's top button with the left arm",
+    "Direct the left arm to click the button found on the palm-sized dark blue clock.",
+    "Hit the center of the white-faced alarm clock's top button",
+    "Press the top middle button of the small plastic alarm clock",
+    "Use the left arm to activate the rounded square-shaped alarm clock's button",
+    "Use the left arm to tap the small clock with rounded edges's central button.",
+    "Use the left arm to press the clock with white dial's top button",
+    "Ensure the left arm clicks the top center button of the clock with white dial",
+    "Tap the center button on the blue clock with green stripe.",
+    "Push the top button of the square plastic alarm clock using the left arm",
+    "Use the left arm to click the top center button on the clock with white dial.",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Touch the dark blue clock's center top button with the left arm",
+    "Use the left arm to tap the small clock with rounded edges's top center button.",
+    "Press the center top button of the alarm clock with green stripe",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Push the center area of the rounded square-shaped alarm clock's top",
+    "Click the dark blue clock's top center button using the left arm.",
+    "Press the square alarm clock's top button using the left arm",
+    "Click the button centered on the square plastic alarm clock's top.",
+    "the left arm activates the alarm clock with green stripe by clicking the top button",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Push the central button on the palm-sized dark blue clock's top side.",
+    "Use the left arm to click the top of the palm-sized dark blue clock",
+    "Guide the left arm to press the centered button on the square plastic alarm clock.",
+    "Activate the white-faced alarm clock by clicking its top button",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Press the center button on the dark blue clock's top.",
+    "Point the left arm to press the button of the square alarm clock.",
+    "Use the left arm to press the center top of the white-faced alarm clock",
+    "the left arm clicks the center top button on the clock with black hands",
+    "Click the middle button on the clock with black hands's top side",
+    "Push the button on the small clock with rounded edges's top center.",
+    "the left arm presses the center top button on the dark blue clock",
+    "Click the top center button of the blue clock with green stripe",
+    "Click the center of the rounded square-shaped alarm clock's top",
+    "Press the center top button on the white-faced alarm clock with the left arm",
+    "Use the left arm to press the square plastic alarm clock's top center button.",
+    "Locate and press the clock with black hands's top center button",
+    "Use the left arm to tap the white-faced alarm clock's top button center",
+    "Click the button centered on the clock with black hands.",
+    "Use the left arm to press the dark blue clock button",
+    "Press the top button at the palm-sized dark blue clock's center.",
+    "Push the top button on the clock with black hands"
+  ],
+  "unseen": [
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the blue alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the compact alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's center top button",
+    "Press the compact alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the blue alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Click the top button of the compact alarm clock",
+    "Press the top button on the compact alarm clock",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the blue alarm clock's top center button.",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top center of the blue alarm clock.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the top button on the alarm clock with smooth finish",
+    "Use the left arm to click the compact alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode45.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..731d9e1651e1b52d7d2d9ba1c5e01a95b8838b73
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the button centered on the smooth black alarm-clock.",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Guide the left arm to press the centered button on the compact alarm-clock.",
+    "Tap the center button on the rectangular alarm-clock.",
+    "Push the button on the black matte alarm-clock's top center.",
+    "Use the left arm to activate the lightweight plastic alarm-clock's button",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Click the center of the alarm-clock with digital display's top",
+    "Use the left arm to press the center top of the rectangular alarm-clock",
+    "Use the left arm to press the alarm-clock with digital display's top button",
+    "Use the left arm to click the top of the rectangular alarm-clock",
+    "Touch the lightweight plastic alarm-clock's center top button with the left arm",
+    "Press the button on the black alarm-clock's top side",
+    "Push the top button of the palm-sized alarm-clock using the left arm",
+    "Use the left arm to tap the alarm-clock with rounded edges's central button.",
+    "Click the alarm-clock with rounded edges's top center button using the left arm.",
+    "Push the top button on the digital screen alarm-clock",
+    "the left arm activates the alarm-clock with buttons on side by clicking the top button",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Activate the smooth black alarm-clock by clicking its top button",
+    "Press the top button in the alarm-clock with rounded edges's center.",
+    "Use the left arm to click the top center button on the digital screen alarm-clock.",
+    "Tap the button at the palm-sized alarm-clock's top center.",
+    "Hit the center of the small alarm-clock's top button",
+    "Use the left arm to tap the alarm-clock with digital display's top center button.",
+    "Click the button centered on the digital screen alarm-clock's top.",
+    "Point the left arm to press the button of the black alarm-clock.",
+    "Ensure the left arm clicks the top center button of the black alarm-clock",
+    "Locate and press the top button on the smooth black alarm-clock",
+    "Direct the left arm to click the button found on the lightweight plastic alarm-clock.",
+    "Push the central button on the compact alarm-clock's top side.",
+    "Press the center button on the alarm-clock with digital display's top.",
+    "Use the left arm to click the center button on the alarm-clock with digital display",
+    "Press the top button at the digital screen alarm-clock's center.",
+    "Click the middle button on the alarm-clock with buttons on side's top side",
+    "the left arm clicks the center top button on the small alarm-clock",
+    "Push the center area of the black alarm-clock's top",
+    "Use the left arm to tap the compact alarm-clock's top button center",
+    "the left arm presses the center top button on the lightweight plastic alarm-clock",
+    "Press the center top button of the lightweight plastic alarm-clock",
+    "Use the left arm to press the alarm-clock with digital display's top center button.",
+    "Use the left arm to press the alarm-clock with rounded edges button",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Click the center button on the smooth black alarm-clock's top side.",
+    "Locate and press the small alarm-clock's top center button",
+    "Use the left arm to press the central button on the alarm-clock with rounded edges.",
+    "Touch the black matte alarm-clock's button on the top side.",
+    "Tap the alarm-clock with rounded edges's top button with the left arm",
+    "Press the alarm-clock with digital display's top button using the left arm",
+    "Click the button centered on the small alarm-clock.",
+    "Activate the alarm-clock with buttons on side by pressing its top",
+    "Click the top center button of the compact alarm-clock",
+    "Guide the left arm to press the centered button on the smooth black alarm-clock.",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Push the button on the rectangular alarm-clock's top center.",
+    "Use the left arm to activate the small alarm-clock's button",
+    "Press the top middle button of the smooth black alarm-clock",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Use the left arm to press the center top of the digital screen alarm-clock",
+    "Use the left arm to press the small alarm-clock's top button",
+    "Use the left arm to click the top of the alarm-clock with buttons on side",
+    "Touch the rectangular alarm-clock's center top button with the left arm",
+    "Press the button on the smooth black alarm-clock's top side",
+    "Push the top button of the digital screen alarm-clock using the left arm",
+    "Use the left arm to tap the black alarm-clock's central button.",
+    "Click the black alarm-clock's top center button using the left arm.",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "the left arm activates the alarm-clock with buttons on side by clicking the top button",
+    "Activate the alarm-clock with rounded edges by pressing the top button",
+    "Activate the black alarm-clock by clicking its top button",
+    "Press the top button in the alarm-clock with digital display's center.",
+    "Use the left arm to click the top center button on the compact alarm-clock.",
+    "Tap the button at the smooth black alarm-clock's top center.",
+    "Hit the center of the rectangular alarm-clock's top button",
+    "Use the left arm to tap the palm-sized alarm-clock's top center button.",
+    "Click the button centered on the alarm-clock with digital display's top.",
+    "Point the left arm to press the button of the lightweight plastic alarm-clock.",
+    "Ensure the left arm clicks the top center button of the digital screen alarm-clock",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Direct the left arm to click the button found on the digital screen alarm-clock.",
+    "Push the central button on the alarm-clock with buttons on side's top side.",
+    "Press the center button on the rectangular alarm-clock's top.",
+    "Use the left arm to click the center button on the digital screen alarm-clock",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Click the middle button on the smooth black alarm-clock's top side",
+    "the left arm clicks the center top button on the digital screen alarm-clock",
+    "Push the center area of the smooth black alarm-clock's top",
+    "Use the left arm to tap the digital screen alarm-clock's top button center",
+    "the left arm presses the center top button on the black matte alarm-clock",
+    "Press the center top button of the palm-sized alarm-clock",
+    "Use the left arm to press the small alarm-clock's top center button.",
+    "Use the left arm to press the small alarm-clock button",
+    "Press the center top button on the digital screen alarm-clock with the left arm",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Use the left arm to press the central button on the small alarm-clock.",
+    "Touch the small alarm-clock's button on the top side.",
+    "Tap the black alarm-clock's top button with the left arm",
+    "Press the black matte alarm-clock's top button using the left arm"
+  ],
+  "unseen": [
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with large numbers",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the top button on the alarm-clock for bedside table",
+    "Use the left arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the top button on the alarm-clock with beige screen",
+    "Use the left arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top center of the alarm-clock for bedside table."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode46.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e609c746d78ad42b0db0c97dcbbaefdebfa2b36
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Activate the rectangular alarm-clock by pressing its top",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Use the right arm to activate the alarm-clock with digital display's button",
+    "Press the top button in the small alarm-clock's center.",
+    "Press the center button on the lightweight plastic alarm-clock's top.",
+    "Direct the right arm to click the button found on the black matte alarm-clock.",
+    "Use the right arm to click the top of the small alarm-clock",
+    "Use the right arm to tap the lightweight plastic alarm-clock's top center button.",
+    "Tap the lightweight plastic alarm-clock's top button with the right arm",
+    "Press the button on the rectangular alarm-clock's top side",
+    "Guide the right arm to press the centered button on the small alarm-clock.",
+    "Tap the button at the small alarm-clock's top center.",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Push the center area of the black matte alarm-clock's top",
+    "Click the top center button of the black alarm-clock",
+    "Tap the center button on the black matte alarm-clock.",
+    "Ensure the right arm clicks the top center button of the rectangular alarm-clock",
+    "Locate and press the top button on the black matte alarm-clock",
+    "Press the center top button on the black matte alarm-clock with the right arm",
+    "Use the right arm to tap the palm-sized alarm-clock's central button.",
+    "Use the right arm to press the alarm-clock with buttons on side button",
+    "Use the right arm to press the central button on the black alarm-clock.",
+    "Click the middle button on the rectangular alarm-clock's top side",
+    "Click the center button on the alarm-clock with buttons on side's top side.",
+    "Use the right arm to press the lightweight plastic alarm-clock's top button",
+    "Touch the compact alarm-clock's center top button with the right arm",
+    "Point the right arm to press the button of the rectangular alarm-clock.",
+    "Locate and press the digital screen alarm-clock's top center button",
+    "Push the top button on the smooth black alarm-clock",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Use the right arm to press the center top of the lightweight plastic alarm-clock",
+    "the right arm activates the digital screen alarm-clock by clicking the top button",
+    "Click the digital screen alarm-clock's top center button using the right arm.",
+    "Press the alarm-clock with rounded edges's top button using the right arm",
+    "Press the top button at the black alarm-clock's center.",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Hit the center of the palm-sized alarm-clock's top button",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Push the central button on the smooth black alarm-clock's top side.",
+    "Use the right arm to tap the alarm-clock with rounded edges's top button center",
+    "Touch the compact alarm-clock's button on the top side.",
+    "Use the right arm to press the small alarm-clock's top center button.",
+    "Push the top button of the rectangular alarm-clock using the right arm",
+    "Press the center top button of the alarm-clock with rounded edges",
+    "the right arm clicks the center top button on the small alarm-clock",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Use the right arm to click the top center button on the rectangular alarm-clock.",
+    "Use the right arm to click the center button on the digital screen alarm-clock",
+    "Press the top middle button of the black alarm-clock",
+    "the right arm presses the center top button on the alarm-clock with buttons on side",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Click the center of the lightweight plastic alarm-clock's top",
+    "Use the right arm to activate the alarm-clock with buttons on side's button",
+    "Press the top button in the compact alarm-clock's center.",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Direct the right arm to click the button found on the compact alarm-clock.",
+    "Use the right arm to click the top of the compact alarm-clock",
+    "Use the right arm to tap the black alarm-clock's top center button.",
+    "Tap the small alarm-clock's top button with the right arm",
+    "Press the button on the black matte alarm-clock's top side",
+    "Guide the right arm to press the centered button on the rectangular alarm-clock.",
+    "Tap the button at the smooth black alarm-clock's top center.",
+    "Click the button centered on the rectangular alarm-clock's top.",
+    "Push the center area of the rectangular alarm-clock's top",
+    "Click the top center button of the rectangular alarm-clock",
+    "Tap the center button on the small alarm-clock.",
+    "Ensure the right arm clicks the top center button of the lightweight plastic alarm-clock",
+    "Locate and press the top button on the alarm-clock with rounded edges",
+    "Press the center top button on the lightweight plastic alarm-clock with the right arm",
+    "Use the right arm to tap the rectangular alarm-clock's central button.",
+    "Use the right arm to press the palm-sized alarm-clock button",
+    "Use the right arm to press the central button on the black matte alarm-clock.",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Click the center button on the compact alarm-clock's top side.",
+    "Use the right arm to press the alarm-clock with digital display's top button",
+    "Touch the rectangular alarm-clock's center top button with the right arm",
+    "Point the right arm to press the button of the alarm-clock with buttons on side.",
+    "Locate and press the rectangular alarm-clock's top center button",
+    "Push the top button on the rectangular alarm-clock",
+    "Activate the alarm-clock with buttons on side by clicking its top button",
+    "Use the right arm to press the center top of the lightweight plastic alarm-clock",
+    "the right arm activates the palm-sized alarm-clock by clicking the top button",
+    "Click the alarm-clock with rounded edges's top center button using the right arm.",
+    "Press the small alarm-clock's top button using the right arm",
+    "Press the top button at the smooth black alarm-clock's center.",
+    "Activate the black matte alarm-clock by pressing the top button",
+    "Hit the center of the alarm-clock with digital display's top button",
+    "Click the button centered on the small alarm-clock.",
+    "Push the central button on the alarm-clock with digital display's top side.",
+    "Use the right arm to tap the palm-sized alarm-clock's top button center",
+    "Touch the rectangular alarm-clock's button on the top side.",
+    "Use the right arm to press the alarm-clock with rounded edges's top center button.",
+    "Push the top button of the smooth black alarm-clock using the right arm",
+    "Press the center top button of the black matte alarm-clock",
+    "the right arm clicks the center top button on the black matte alarm-clock",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Use the right arm to click the top center button on the small alarm-clock.",
+    "Use the right arm to click the center button on the compact alarm-clock",
+    "Press the top middle button of the compact alarm-clock",
+    "the right arm presses the center top button on the small alarm-clock"
+  ],
+  "unseen": [
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Tap the center top button of the alarm-clock for bedside table"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode48.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..9949a6f88a68768b0abe47b63a6e3cdeae063242
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the top button on the alarm-clock with digital display",
+    "Use the right arm to press the central button on the smooth black alarm-clock.",
+    "Press the button on the digital screen alarm-clock's top side",
+    "Press the top button at the smooth black alarm-clock's center.",
+    "Press the center button on the alarm-clock with rounded edges's top.",
+    "Use the right arm to click the top center button on the alarm-clock with rounded edges.",
+    "Locate and press the alarm-clock with digital display's top center button",
+    "Activate the palm-sized alarm-clock by clicking its top button",
+    "Click the button centered on the black matte alarm-clock's top.",
+    "Use the right arm to press the center top of the black matte alarm-clock",
+    "the right arm activates the alarm-clock with digital display by clicking the top button",
+    "Activate the alarm-clock with digital display by pressing the top button",
+    "Touch the small alarm-clock's button on the top side.",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Use the right arm to tap the small alarm-clock's central button.",
+    "the right arm presses the center top button on the lightweight plastic alarm-clock",
+    "Hit the center of the small alarm-clock's top button",
+    "Click the button centered on the palm-sized alarm-clock.",
+    "Direct the right arm to click the button found on the small alarm-clock.",
+    "Use the right arm to tap the small alarm-clock's top center button.",
+    "Click the top center button of the palm-sized alarm-clock",
+    "Tap the alarm-clock with rounded edges's top button with the right arm",
+    "Press the top middle button of the alarm-clock with rounded edges",
+    "Use the right arm to tap the rectangular alarm-clock's top button center",
+    "Activate the smooth black alarm-clock by pressing its top",
+    "Tap the button at the alarm-clock with rounded edges's top center.",
+    "Use the right arm to click the top of the smooth black alarm-clock",
+    "Press the center top button of the compact alarm-clock",
+    "Use the right arm to press the alarm-clock with buttons on side's top center button.",
+    "Press the lightweight plastic alarm-clock's top button using the right arm",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Click the center of the black alarm-clock's top",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "Use the right arm to press the black matte alarm-clock button",
+    "Use the right arm to click the center button on the alarm-clock with rounded edges",
+    "Ensure the right arm clicks the top center button of the black matte alarm-clock",
+    "Click the smooth black alarm-clock's top center button using the right arm.",
+    "Use the right arm to press the alarm-clock with rounded edges's top button",
+    "Push the top button on the lightweight plastic alarm-clock",
+    "Push the center area of the small alarm-clock's top",
+    "Use the right arm to activate the compact alarm-clock's button",
+    "the right arm clicks the center top button on the rectangular alarm-clock",
+    "Tap the center button on the small alarm-clock.",
+    "Click the middle button on the lightweight plastic alarm-clock's top side",
+    "Click the center button on the alarm-clock with digital display's top side.",
+    "Point the right arm to press the button of the alarm-clock with rounded edges.",
+    "Guide the right arm to press the centered button on the alarm-clock with digital display.",
+    "Press the center top button on the compact alarm-clock with the right arm",
+    "Push the top button of the alarm-clock with buttons on side using the right arm",
+    "Touch the alarm-clock with digital display's center top button with the right arm",
+    "Locate and press the top button on the black alarm-clock",
+    "Use the right arm to press the central button on the lightweight plastic alarm-clock.",
+    "Press the button on the compact alarm-clock's top side",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Press the center button on the smooth black alarm-clock's top.",
+    "Use the right arm to click the top center button on the black alarm-clock.",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Activate the compact alarm-clock by clicking its top button",
+    "Click the button centered on the lightweight plastic alarm-clock's top.",
+    "Use the right arm to press the center top of the black alarm-clock",
+    "the right arm activates the smooth black alarm-clock by clicking the top button",
+    "Activate the black alarm-clock by pressing the top button",
+    "Touch the alarm-clock with digital display's button on the top side.",
+    "Push the button on the digital screen alarm-clock's top center.",
+    "Use the right arm to tap the black matte alarm-clock's central button.",
+    "the right arm presses the center top button on the lightweight plastic alarm-clock",
+    "Hit the center of the black alarm-clock's top button",
+    "Click the button centered on the digital screen alarm-clock.",
+    "Direct the right arm to click the button found on the palm-sized alarm-clock.",
+    "Use the right arm to tap the black matte alarm-clock's top center button.",
+    "Click the top center button of the lightweight plastic alarm-clock",
+    "Tap the digital screen alarm-clock's top button with the right arm",
+    "Press the top middle button of the small alarm-clock",
+    "Use the right arm to tap the smooth black alarm-clock's top button center",
+    "Activate the compact alarm-clock by pressing its top",
+    "Tap the button at the compact alarm-clock's top center.",
+    "Use the right arm to click the top of the lightweight plastic alarm-clock",
+    "Press the center top button of the small alarm-clock",
+    "Use the right arm to press the alarm-clock with buttons on side's top center button.",
+    "Press the black alarm-clock's top button using the right arm",
+    "Push the central button on the palm-sized alarm-clock's top side.",
+    "Click the center of the black matte alarm-clock's top",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "Use the right arm to press the alarm-clock with buttons on side button",
+    "Use the right arm to click the center button on the digital screen alarm-clock",
+    "Ensure the right arm clicks the top center button of the palm-sized alarm-clock",
+    "Click the rectangular alarm-clock's top center button using the right arm.",
+    "Use the right arm to press the black alarm-clock's top button",
+    "Push the top button on the digital screen alarm-clock",
+    "Push the center area of the digital screen alarm-clock's top",
+    "Use the right arm to activate the black alarm-clock's button",
+    "the right arm clicks the center top button on the alarm-clock with rounded edges",
+    "Tap the center button on the alarm-clock with digital display.",
+    "Click the middle button on the alarm-clock with rounded edges's top side",
+    "Click the center button on the small alarm-clock's top side.",
+    "Point the right arm to press the button of the palm-sized alarm-clock.",
+    "Guide the right arm to press the centered button on the alarm-clock with digital display.",
+    "Press the center top button on the palm-sized alarm-clock with the right arm",
+    "Push the top button of the alarm-clock with digital display using the right arm",
+    "Touch the lightweight plastic alarm-clock's center top button with the right arm"
+  ],
+  "unseen": [
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with large numbers's center top button",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's center top button",
+    "Press the alarm-clock with large numbers's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode49.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf8e496a63e5f7f2f8c197696d269cb7ea85128c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center area of the smooth black alarm-clock's top",
+    "Activate the alarm-clock with digital display by pressing its top",
+    "Push the central button on the digital screen alarm-clock's top side.",
+    "Use the right arm to press the center top of the small alarm-clock",
+    "Direct the right arm to click the button found on the smooth black alarm-clock.",
+    "Use the right arm to press the central button on the alarm-clock with buttons on side.",
+    "Use the right arm to tap the alarm-clock with buttons on side's top center button.",
+    "the right arm clicks the center top button on the palm-sized alarm-clock",
+    "Touch the alarm-clock with digital display's center top button with the right arm",
+    "Push the top button on the compact alarm-clock",
+    "the right arm presses the center top button on the digital screen alarm-clock",
+    "Press the top button in the black alarm-clock's center.",
+    "Activate the palm-sized alarm-clock by pressing the top button",
+    "Push the top button of the alarm-clock with buttons on side using the right arm",
+    "the right arm activates the alarm-clock with digital display by clicking the top button",
+    "Click the center of the alarm-clock with rounded edges's top",
+    "Locate and press the black matte alarm-clock's top center button",
+    "Hit the center of the digital screen alarm-clock's top button",
+    "Locate and press the top button on the digital screen alarm-clock",
+    "Touch the palm-sized alarm-clock's button on the top side.",
+    "Use the right arm to activate the small alarm-clock's button",
+    "Use the right arm to click the top of the alarm-clock with rounded edges",
+    "Click the alarm-clock with digital display's top center button using the right arm.",
+    "Press the center top button on the palm-sized alarm-clock with the right arm",
+    "Press the top button at the alarm-clock with buttons on side's center.",
+    "Guide the right arm to press the centered button on the smooth black alarm-clock.",
+    "Press the button on the alarm-clock with rounded edges's top side",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Use the right arm to click the center button on the alarm-clock with buttons on side",
+    "Press the center top button of the black alarm-clock",
+    "Tap the button at the alarm-clock with digital display's top center.",
+    "Click the center button on the rectangular alarm-clock's top side.",
+    "Press the alarm-clock with rounded edges's top button using the right arm",
+    "Tap the alarm-clock with buttons on side's top button with the right arm",
+    "Press the top middle button of the black alarm-clock",
+    "Activate the alarm-clock with digital display by clicking its top button",
+    "Click the middle button on the small alarm-clock's top side",
+    "Click the button centered on the smooth black alarm-clock.",
+    "Push the button on the small alarm-clock's top center.",
+    "Click the top center button of the alarm-clock with digital display",
+    "Use the right arm to press the alarm-clock with digital display's top button",
+    "Point the right arm to press the button of the alarm-clock with digital display.",
+    "Use the right arm to click the top center button on the black alarm-clock.",
+    "Use the right arm to press the alarm-clock with digital display button",
+    "Use the right arm to press the compact alarm-clock's top center button.",
+    "Ensure the right arm clicks the top center button of the black alarm-clock",
+    "Use the right arm to tap the alarm-clock with buttons on side's central button.",
+    "Press the center button on the black matte alarm-clock's top.",
+    "Use the right arm to tap the small alarm-clock's top button center",
+    "Click the button centered on the small alarm-clock's top.",
+    "Push the center area of the alarm-clock with digital display's top",
+    "Activate the black alarm-clock by pressing its top",
+    "Push the central button on the black alarm-clock's top side.",
+    "Use the right arm to press the center top of the black matte alarm-clock",
+    "Direct the right arm to click the button found on the black alarm-clock.",
+    "Use the right arm to press the central button on the lightweight plastic alarm-clock.",
+    "Use the right arm to tap the alarm-clock with digital display's top center button.",
+    "the right arm clicks the center top button on the black alarm-clock",
+    "Touch the alarm-clock with rounded edges's center top button with the right arm",
+    "Push the top button on the digital screen alarm-clock",
+    "the right arm presses the center top button on the compact alarm-clock",
+    "Press the top button in the palm-sized alarm-clock's center.",
+    "Activate the lightweight plastic alarm-clock by pressing the top button",
+    "Push the top button of the palm-sized alarm-clock using the right arm",
+    "the right arm activates the alarm-clock with digital display by clicking the top button",
+    "Click the center of the alarm-clock with digital display's top",
+    "Locate and press the alarm-clock with buttons on side's top center button",
+    "Hit the center of the black matte alarm-clock's top button",
+    "Locate and press the top button on the alarm-clock with buttons on side",
+    "Touch the lightweight plastic alarm-clock's button on the top side.",
+    "Use the right arm to activate the black matte alarm-clock's button",
+    "Use the right arm to click the top of the alarm-clock with rounded edges",
+    "Click the black alarm-clock's top center button using the right arm.",
+    "Press the center top button on the small alarm-clock with the right arm",
+    "Press the top button at the alarm-clock with digital display's center.",
+    "Guide the right arm to press the centered button on the digital screen alarm-clock.",
+    "Press the button on the black matte alarm-clock's top side",
+    "Tap the center button on the smooth black alarm-clock.",
+    "Use the right arm to click the center button on the smooth black alarm-clock",
+    "Press the center top button of the black alarm-clock",
+    "Tap the button at the lightweight plastic alarm-clock's top center.",
+    "Click the center button on the alarm-clock with rounded edges's top side.",
+    "Press the alarm-clock with rounded edges's top button using the right arm",
+    "Tap the rectangular alarm-clock's top button with the right arm",
+    "Press the top middle button of the lightweight plastic alarm-clock",
+    "Activate the black alarm-clock by clicking its top button",
+    "Click the middle button on the palm-sized alarm-clock's top side",
+    "Click the button centered on the small alarm-clock.",
+    "Push the button on the alarm-clock with buttons on side's top center.",
+    "Click the top center button of the alarm-clock with buttons on side",
+    "Use the right arm to press the rectangular alarm-clock's top button",
+    "Point the right arm to press the button of the compact alarm-clock.",
+    "Use the right arm to click the top center button on the small alarm-clock.",
+    "Use the right arm to press the alarm-clock with buttons on side button",
+    "Use the right arm to press the digital screen alarm-clock's top center button.",
+    "Ensure the right arm clicks the top center button of the digital screen alarm-clock",
+    "Use the right arm to tap the alarm-clock with rounded edges's central button.",
+    "Press the center button on the digital screen alarm-clock's top.",
+    "Use the right arm to tap the small alarm-clock's top button center",
+    "Click the button centered on the alarm-clock with digital display's top."
+  ],
+  "unseen": [
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock for bedside table.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with large numbers",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with large numbers.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with large numbers's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with beige screen",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with large numbers's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock with beige screen's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with beige screen",
+    "Press the top center of the alarm-clock with beige screen.",
+    "Press the alarm-clock with large numbers's center top button",
+    "Click the center top button of the alarm-clock with beige screen",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock for bedside table's center top button",
+    "Click the center top button of the alarm-clock for bedside table",
+    "Click the central top button on the alarm-clock with beige screen.",
+    "Use the right arm to click the alarm-clock with beige screen's top center button.",
+    "Press the top button on the alarm-clock with beige screen",
+    "Tap the center top button of the alarm-clock for bedside table",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock with large numbers",
+    "Press the top center of the alarm-clock for bedside table.",
+    "Press the alarm-clock with beige screen's center top button",
+    "Click the center top button of the alarm-clock with large numbers",
+    "Click the central top button on the alarm-clock with large numbers.",
+    "Use the right arm to click the alarm-clock for bedside table's top center button.",
+    "Press the top button on the alarm-clock for bedside table",
+    "Tap the center top button of the alarm-clock with large numbers",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the alarm-clock for bedside table's top center button.",
+    "Click the top button of the alarm-clock for bedside table",
+    "Press the top center of the alarm-clock with beige screen."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode5.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..660dd6379010d66a6c9b3b7ee6e23fffc447b02f
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the small clock with rounded edges's top center button",
+    "Press the top middle button of the palm-sized dark blue clock",
+    "Use the right arm to tap the dark blue clock's central button.",
+    "Hit the center of the small plastic alarm clock's top button",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Click the alarm clock with green stripe's top center button using the right arm.",
+    "Use the right arm to tap the square plastic alarm clock's top center button.",
+    "Push the center area of the clock with black hands's top",
+    "Activate the small plastic alarm clock by pressing its top",
+    "the right arm presses the center top button on the small plastic alarm clock",
+    "Point the right arm to press the button of the square alarm clock.",
+    "Use the right arm to click the top center button on the dark blue clock.",
+    "Click the center of the clock with black hands's top",
+    "Use the right arm to activate the dark blue clock's button",
+    "Press the center top button on the alarm clock with green stripe with the right arm",
+    "Direct the right arm to click the button found on the alarm clock with green stripe.",
+    "Click the top center button of the blue clock with green stripe",
+    "Use the right arm to click the top of the dark blue clock",
+    "Tap the square alarm clock's top button with the right arm",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Click the button centered on the alarm clock with green stripe.",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Press the clock with black hands's top button using the right arm",
+    "the right arm clicks the center top button on the small plastic alarm clock",
+    "the right arm activates the palm-sized dark blue clock by clicking the top button",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Use the right arm to press the central button on the square plastic alarm clock.",
+    "Guide the right arm to press the centered button on the small clock with rounded edges.",
+    "Push the central button on the small clock with rounded edges's top side.",
+    "Use the right arm to press the square plastic alarm clock's top button",
+    "Use the right arm to press the center top of the square alarm clock",
+    "Tap the center button on the small plastic alarm clock.",
+    "Click the button centered on the alarm clock with green stripe's top.",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Touch the rounded square-shaped alarm clock's center top button with the right arm",
+    "Activate the white-faced alarm clock by pressing the top button",
+    "Use the right arm to press the square alarm clock's top center button.",
+    "Use the right arm to press the white-faced alarm clock button",
+    "Tap the button at the alarm clock with green stripe's top center.",
+    "Use the right arm to tap the palm-sized dark blue clock's top button center",
+    "Push the top button of the clock with white dial using the right arm",
+    "Press the center button on the clock with black hands's top.",
+    "Push the button on the clock with black hands's top center.",
+    "Press the center top button of the clock with black hands",
+    "Click the center button on the blue clock with green stripe's top side.",
+    "Use the right arm to click the center button on the clock with white dial",
+    "Click the middle button on the dark blue clock's top side",
+    "Ensure the right arm clicks the top center button of the blue clock with green stripe",
+    "Push the top button on the small clock with rounded edges",
+    "Press the button on the square plastic alarm clock's top side",
+    "Locate and press the clock with white dial's top center button",
+    "Press the top middle button of the clock with white dial",
+    "Use the right arm to tap the blue clock with green stripe's central button.",
+    "Hit the center of the alarm clock with green stripe's top button",
+    "Press the top button at the square plastic alarm clock's center.",
+    "Click the clock with black hands's top center button using the right arm.",
+    "Use the right arm to tap the palm-sized dark blue clock's top center button.",
+    "Push the center area of the white-faced alarm clock's top",
+    "Activate the small plastic alarm clock by pressing its top",
+    "the right arm presses the center top button on the square plastic alarm clock",
+    "Point the right arm to press the button of the clock with black hands.",
+    "Use the right arm to click the top center button on the clock with black hands.",
+    "Click the center of the square alarm clock's top",
+    "Use the right arm to activate the clock with white dial's button",
+    "Press the center top button on the rounded square-shaped alarm clock with the right arm",
+    "Direct the right arm to click the button found on the dark blue clock.",
+    "Click the top center button of the dark blue clock",
+    "Use the right arm to click the top of the rounded square-shaped alarm clock",
+    "Tap the small clock with rounded edges's top button with the right arm",
+    "Press the top button in the clock with white dial's center.",
+    "Click the button centered on the clock with black hands.",
+    "Locate and press the top button on the small clock with rounded edges",
+    "Press the blue clock with green stripe's top button using the right arm",
+    "the right arm clicks the center top button on the clock with black hands",
+    "the right arm activates the clock with white dial by clicking the top button",
+    "Activate the blue clock with green stripe by clicking its top button",
+    "Use the right arm to press the central button on the dark blue clock.",
+    "Guide the right arm to press the centered button on the blue clock with green stripe.",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Use the right arm to press the dark blue clock's top button",
+    "Use the right arm to press the center top of the alarm clock with green stripe",
+    "Tap the center button on the square plastic alarm clock.",
+    "Click the button centered on the square alarm clock's top.",
+    "Touch the blue clock with green stripe's button on the top side.",
+    "Touch the palm-sized dark blue clock's center top button with the right arm",
+    "Activate the palm-sized dark blue clock by pressing the top button",
+    "Use the right arm to press the white-faced alarm clock's top center button.",
+    "Use the right arm to press the square plastic alarm clock button",
+    "Tap the button at the clock with black hands's top center.",
+    "Use the right arm to tap the clock with black hands's top button center",
+    "Push the top button of the white-faced alarm clock using the right arm",
+    "Press the center button on the small plastic alarm clock's top.",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Press the center top button of the alarm clock with green stripe",
+    "Click the center button on the clock with white dial's top side.",
+    "Use the right arm to click the center button on the square alarm clock",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Ensure the right arm clicks the top center button of the white-faced alarm clock",
+    "Push the top button on the clock with black hands",
+    "Press the button on the small plastic alarm clock's top side"
+  ],
+  "unseen": [
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top center of the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Use the right arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Use the right arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top center of the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Use the right arm to click the blue alarm clock's top center button."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode7.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..d20711fb71d3151d0296afe0f9477e31f2b7ef63
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate and press the clock with white dial's top center button",
+    "Guide the left arm to press the centered button on the square plastic alarm clock.",
+    "Activate the rounded square-shaped alarm clock by clicking its top button",
+    "Use the left arm to press the center top of the alarm clock with green stripe",
+    "Push the central button on the blue clock with green stripe's top side.",
+    "Push the top button on the dark blue clock",
+    "Click the button centered on the small plastic alarm clock.",
+    "Use the left arm to tap the small plastic alarm clock's central button.",
+    "Press the top button at the clock with white dial's center.",
+    "Press the center button on the palm-sized dark blue clock's top.",
+    "Activate the dark blue clock by pressing the top button",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Push the button on the dark blue clock's top center.",
+    "Use the left arm to press the square alarm clock button",
+    "Press the center top button on the square alarm clock with the left arm",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Ensure the left arm clicks the top center button of the small plastic alarm clock",
+    "Use the left arm to tap the clock with white dial's top center button.",
+    "Use the left arm to click the top of the dark blue clock",
+    "Click the center button on the clock with white dial's top side.",
+    "Click the button centered on the clock with black hands's top.",
+    "Press the top middle button of the clock with white dial",
+    "Use the left arm to click the top center button on the clock with white dial.",
+    "Direct the left arm to click the button found on the clock with white dial.",
+    "Point the left arm to press the button of the clock with black hands.",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Press the button on the blue clock with green stripe's top side",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Click the rounded square-shaped alarm clock's top center button using the left arm.",
+    "Tap the square alarm clock's top button with the left arm",
+    "Use the left arm to press the white-faced alarm clock's top button",
+    "Press the small plastic alarm clock's top button using the left arm",
+    "Use the left arm to press the central button on the white-faced alarm clock.",
+    "the left arm activates the dark blue clock by clicking the top button",
+    "Click the top center button of the small clock with rounded edges",
+    "Activate the clock with white dial by pressing its top",
+    "Click the center of the blue clock with green stripe's top",
+    "Press the center top button of the small clock with rounded edges",
+    "Use the left arm to press the blue clock with green stripe's top center button.",
+    "Press the top button in the dark blue clock's center.",
+    "the left arm presses the center top button on the alarm clock with green stripe",
+    "Push the center area of the small plastic alarm clock's top",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Use the left arm to click the center button on the square plastic alarm clock",
+    "the left arm clicks the center top button on the square plastic alarm clock",
+    "Use the left arm to activate the small plastic alarm clock's button",
+    "Push the top button of the small plastic alarm clock using the left arm",
+    "Use the left arm to tap the clock with black hands's top button center",
+    "Locate and press the dark blue clock's top center button",
+    "Guide the left arm to press the centered button on the rounded square-shaped alarm clock.",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Use the left arm to press the center top of the square plastic alarm clock",
+    "Push the central button on the dark blue clock's top side.",
+    "Push the top button on the clock with white dial",
+    "Click the button centered on the small clock with rounded edges.",
+    "Use the left arm to tap the small plastic alarm clock's central button.",
+    "Press the top button at the small clock with rounded edges's center.",
+    "Press the center button on the clock with black hands's top.",
+    "Activate the small plastic alarm clock by pressing the top button",
+    "Touch the small plastic alarm clock's button on the top side.",
+    "Push the button on the square plastic alarm clock's top center.",
+    "Use the left arm to press the rounded square-shaped alarm clock button",
+    "Press the center top button on the small clock with rounded edges with the left arm",
+    "Click the middle button on the white-faced alarm clock's top side",
+    "Locate and press the top button on the dark blue clock",
+    "Ensure the left arm clicks the top center button of the square alarm clock",
+    "Use the left arm to tap the clock with white dial's top center button.",
+    "Use the left arm to click the top of the dark blue clock",
+    "Click the center button on the small plastic alarm clock's top side.",
+    "Click the button centered on the rounded square-shaped alarm clock's top.",
+    "Press the top middle button of the square plastic alarm clock",
+    "Use the left arm to click the top center button on the clock with white dial.",
+    "Direct the left arm to click the button found on the square plastic alarm clock.",
+    "Point the left arm to press the button of the palm-sized dark blue clock.",
+    "Hit the center of the palm-sized dark blue clock's top button",
+    "Touch the alarm clock with green stripe's center top button with the left arm",
+    "Press the button on the clock with white dial's top side",
+    "Tap the button at the small plastic alarm clock's top center.",
+    "Click the white-faced alarm clock's top center button using the left arm.",
+    "Tap the blue clock with green stripe's top button with the left arm",
+    "Use the left arm to press the small clock with rounded edges's top button",
+    "Press the alarm clock with green stripe's top button using the left arm",
+    "Use the left arm to press the central button on the clock with black hands.",
+    "the left arm activates the clock with black hands by clicking the top button",
+    "Click the top center button of the small clock with rounded edges",
+    "Activate the small clock with rounded edges by pressing its top",
+    "Click the center of the square alarm clock's top",
+    "Press the center top button of the white-faced alarm clock",
+    "Use the left arm to press the clock with white dial's top center button.",
+    "Press the top button in the clock with black hands's center.",
+    "the left arm presses the center top button on the white-faced alarm clock",
+    "Push the center area of the square plastic alarm clock's top",
+    "Tap the center button on the small plastic alarm clock.",
+    "Use the left arm to click the center button on the square alarm clock",
+    "the left arm clicks the center top button on the palm-sized dark blue clock",
+    "Use the left arm to activate the clock with white dial's button",
+    "Push the top button of the dark blue clock using the left arm",
+    "Use the left arm to tap the clock with black hands's top button center"
+  ],
+  "unseen": [
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Press the top button on the blue alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Press the compact alarm clock's center top button",
+    "Press the top button on the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Press the blue alarm clock's center top button",
+    "Press the top button on the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Tap the center top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Press the alarm clock with smooth finish's center top button"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode9.json b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..e02f3c509a4a8f57737007fc04d910c60b4f862b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/click_alarmclock/stdb_cc_scene0/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the palm-sized dark blue clock's top button with the left arm",
+    "Touch the small clock with rounded edges's button on the top side.",
+    "Tap the center button on the clock with white dial.",
+    "Use the left arm to tap the clock with white dial's top center button.",
+    "Use the left arm to activate the dark blue clock's button",
+    "Push the top button on the blue clock with green stripe",
+    "Press the top button at the blue clock with green stripe's center.",
+    "Use the left arm to click the top of the palm-sized dark blue clock",
+    "Direct the left arm to click the button found on the small clock with rounded edges.",
+    "Push the center area of the white-faced alarm clock's top",
+    "Use the left arm to press the clock with black hands button",
+    "Click the center of the square plastic alarm clock's top",
+    "Locate and press the top button on the alarm clock with green stripe",
+    "Tap the button at the rounded square-shaped alarm clock's top center.",
+    "Click the palm-sized dark blue clock's top center button using the left arm.",
+    "Locate and press the small plastic alarm clock's top center button",
+    "Click the top center button of the dark blue clock",
+    "Use the left arm to press the center top of the square plastic alarm clock",
+    "the left arm activates the square alarm clock by clicking the top button",
+    "Click the button centered on the clock with white dial.",
+    "Press the top middle button of the white-faced alarm clock",
+    "Point the left arm to press the button of the small clock with rounded edges.",
+    "Activate the alarm clock with green stripe by clicking its top button",
+    "Use the left arm to press the central button on the blue clock with green stripe.",
+    "Press the white-faced alarm clock's top button using the left arm",
+    "the left arm clicks the center top button on the small clock with rounded edges",
+    "Use the left arm to click the top center button on the square plastic alarm clock.",
+    "Press the button on the square plastic alarm clock's top side",
+    "Push the central button on the small plastic alarm clock's top side.",
+    "Press the center top button on the white-faced alarm clock with the left arm",
+    "Use the left arm to press the square alarm clock's top center button.",
+    "Use the left arm to tap the dark blue clock's central button.",
+    "Press the top button in the white-faced alarm clock's center.",
+    "Touch the square alarm clock's center top button with the left arm",
+    "Push the top button of the dark blue clock using the left arm",
+    "Use the left arm to press the dark blue clock's top button",
+    "the left arm presses the center top button on the clock with white dial",
+    "Press the center top button of the dark blue clock",
+    "Push the button on the rounded square-shaped alarm clock's top center.",
+    "Hit the center of the dark blue clock's top button",
+    "Press the center button on the rounded square-shaped alarm clock's top.",
+    "Guide the left arm to press the centered button on the clock with white dial.",
+    "Click the middle button on the alarm clock with green stripe's top side",
+    "Click the button centered on the small clock with rounded edges's top.",
+    "Activate the small plastic alarm clock by pressing the top button",
+    "Click the center button on the small clock with rounded edges's top side.",
+    "Use the left arm to tap the rounded square-shaped alarm clock's top button center",
+    "Use the left arm to click the center button on the blue clock with green stripe",
+    "Ensure the left arm clicks the top center button of the dark blue clock",
+    "Activate the rounded square-shaped alarm clock by pressing its top",
+    "Tap the rounded square-shaped alarm clock's top button with the left arm",
+    "Touch the clock with white dial's button on the top side.",
+    "Tap the center button on the palm-sized dark blue clock.",
+    "Use the left arm to tap the square plastic alarm clock's top center button.",
+    "Use the left arm to activate the small plastic alarm clock's button",
+    "Push the top button on the white-faced alarm clock",
+    "Press the top button at the square alarm clock's center.",
+    "Use the left arm to click the top of the white-faced alarm clock",
+    "Direct the left arm to click the button found on the small plastic alarm clock.",
+    "Push the center area of the blue clock with green stripe's top",
+    "Use the left arm to press the palm-sized dark blue clock button",
+    "Click the center of the palm-sized dark blue clock's top",
+    "Locate and press the top button on the rounded square-shaped alarm clock",
+    "Tap the button at the palm-sized dark blue clock's top center.",
+    "Click the white-faced alarm clock's top center button using the left arm.",
+    "Locate and press the small plastic alarm clock's top center button",
+    "Click the top center button of the small clock with rounded edges",
+    "Use the left arm to press the center top of the small clock with rounded edges",
+    "the left arm activates the alarm clock with green stripe by clicking the top button",
+    "Click the button centered on the square plastic alarm clock.",
+    "Press the top middle button of the square plastic alarm clock",
+    "Point the left arm to press the button of the small clock with rounded edges.",
+    "Activate the square plastic alarm clock by clicking its top button",
+    "Use the left arm to press the central button on the square alarm clock.",
+    "Press the clock with black hands's top button using the left arm",
+    "the left arm clicks the center top button on the small plastic alarm clock",
+    "Use the left arm to click the top center button on the dark blue clock.",
+    "Press the button on the palm-sized dark blue clock's top side",
+    "Push the central button on the clock with white dial's top side.",
+    "Press the center top button on the palm-sized dark blue clock with the left arm",
+    "Use the left arm to press the blue clock with green stripe's top center button.",
+    "Use the left arm to tap the square alarm clock's central button.",
+    "Press the top button in the palm-sized dark blue clock's center.",
+    "Touch the rounded square-shaped alarm clock's center top button with the left arm",
+    "Push the top button of the small clock with rounded edges using the left arm",
+    "Use the left arm to press the square plastic alarm clock's top button",
+    "the left arm presses the center top button on the palm-sized dark blue clock",
+    "Press the center top button of the clock with black hands",
+    "Push the button on the white-faced alarm clock's top center.",
+    "Hit the center of the square plastic alarm clock's top button",
+    "Press the center button on the clock with white dial's top.",
+    "Guide the left arm to press the centered button on the palm-sized dark blue clock.",
+    "Click the middle button on the blue clock with green stripe's top side",
+    "Click the button centered on the clock with white dial's top.",
+    "Activate the small clock with rounded edges by pressing the top button",
+    "Click the center button on the square alarm clock's top side.",
+    "Use the left arm to tap the small plastic alarm clock's top button center",
+    "Use the left arm to click the center button on the dark blue clock",
+    "Ensure the left arm clicks the top center button of the small clock with rounded edges",
+    "Activate the small plastic alarm clock by pressing its top"
+  ],
+  "unseen": [
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the blue alarm clock.",
+    "Use the left arm to click the alarm clock with smooth finish's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the alarm clock with smooth finish",
+    "Tap the center top button of the compact alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the compact alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the blue alarm clock's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the blue alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the blue alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the compact alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the alarm clock with smooth finish",
+    "Press the top center of the compact alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the alarm clock with smooth finish.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the blue alarm clock",
+    "Press the compact alarm clock's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the compact alarm clock",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the blue alarm clock's center top button",
+    "Click the top button of the compact alarm clock",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the left arm to click the compact alarm clock's top center button.",
+    "Click the top button of the compact alarm clock",
+    "Click the central top button on the compact alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the blue alarm clock",
+    "Press the top center of the alarm clock with smooth finish.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the central top button on the blue alarm clock.",
+    "Press the top button on the blue alarm clock",
+    "Tap the center top button of the alarm clock with smooth finish",
+    "Press the alarm clock with smooth finish's top center button.",
+    "Press the alarm clock with smooth finish's center top button",
+    "Click the top button of the alarm clock with smooth finish",
+    "Click the center top button of the compact alarm clock",
+    "Press the top center of the compact alarm clock.",
+    "Use the left arm to click the blue alarm clock's top center button.",
+    "Click the top button of the blue alarm clock"
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/manifests/scene03_train_scene2_val_scene1_test/stdb_cc_manifest.jsonl b/raw/robotwin_stdb_cc/place_object_basket/manifests/scene03_train_scene2_val_scene1_test/stdb_cc_manifest.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..139978cbeb3425eb6c25c14e952631218a96c332
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/manifests/scene03_train_scene2_val_scene1_test/stdb_cc_manifest.jsonl
@@ -0,0 +1,200 @@
+{"task_name": "place_object_basket", "episode_id": 0, "pair_group_id": "place_object_basket:0", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 0, "data_path": "../../stdb_cc_scene0/data/episode0.hdf5", "video_path": "../../stdb_cc_scene0/video/episode0.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode0.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode0.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 1, "pair_group_id": "place_object_basket:1", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 2, "data_path": "../../stdb_cc_scene0/data/episode1.hdf5", "video_path": "../../stdb_cc_scene0/video/episode1.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode1.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode1.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 2, "pair_group_id": "place_object_basket:2", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 3, "data_path": "../../stdb_cc_scene0/data/episode2.hdf5", "video_path": "../../stdb_cc_scene0/video/episode2.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode2.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode2.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 3, "pair_group_id": "place_object_basket:3", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 6, "data_path": "../../stdb_cc_scene0/data/episode3.hdf5", "video_path": "../../stdb_cc_scene0/video/episode3.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode3.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode3.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 4, "pair_group_id": "place_object_basket:4", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 8, "data_path": "../../stdb_cc_scene0/data/episode4.hdf5", "video_path": "../../stdb_cc_scene0/video/episode4.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode4.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode4.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 5, "pair_group_id": "place_object_basket:5", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 9, "data_path": "../../stdb_cc_scene0/data/episode5.hdf5", "video_path": "../../stdb_cc_scene0/video/episode5.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode5.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode5.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 6, "pair_group_id": "place_object_basket:6", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 14, "data_path": "../../stdb_cc_scene0/data/episode6.hdf5", "video_path": "../../stdb_cc_scene0/video/episode6.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode6.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode6.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 7, "pair_group_id": "place_object_basket:7", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 15, "data_path": "../../stdb_cc_scene0/data/episode7.hdf5", "video_path": "../../stdb_cc_scene0/video/episode7.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode7.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode7.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 8, "pair_group_id": "place_object_basket:8", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 18, "data_path": "../../stdb_cc_scene0/data/episode8.hdf5", "video_path": "../../stdb_cc_scene0/video/episode8.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode8.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode8.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 9, "pair_group_id": "place_object_basket:9", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 22, "data_path": "../../stdb_cc_scene0/data/episode9.hdf5", "video_path": "../../stdb_cc_scene0/video/episode9.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode9.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode9.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 10, "pair_group_id": "place_object_basket:10", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 23, "data_path": "../../stdb_cc_scene0/data/episode10.hdf5", "video_path": "../../stdb_cc_scene0/video/episode10.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode10.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode10.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 11, "pair_group_id": "place_object_basket:11", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 25, "data_path": "../../stdb_cc_scene0/data/episode11.hdf5", "video_path": "../../stdb_cc_scene0/video/episode11.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode11.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode11.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 12, "pair_group_id": "place_object_basket:12", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 27, "data_path": "../../stdb_cc_scene0/data/episode12.hdf5", "video_path": "../../stdb_cc_scene0/video/episode12.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode12.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode12.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 13, "pair_group_id": "place_object_basket:13", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 28, "data_path": "../../stdb_cc_scene0/data/episode13.hdf5", "video_path": "../../stdb_cc_scene0/video/episode13.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode13.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode13.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 14, "pair_group_id": "place_object_basket:14", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 30, "data_path": "../../stdb_cc_scene0/data/episode14.hdf5", "video_path": "../../stdb_cc_scene0/video/episode14.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode14.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode14.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 15, "pair_group_id": "place_object_basket:15", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 31, "data_path": "../../stdb_cc_scene0/data/episode15.hdf5", "video_path": "../../stdb_cc_scene0/video/episode15.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode15.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode15.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 16, "pair_group_id": "place_object_basket:16", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 32, "data_path": "../../stdb_cc_scene0/data/episode16.hdf5", "video_path": "../../stdb_cc_scene0/video/episode16.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode16.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode16.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 17, "pair_group_id": "place_object_basket:17", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 36, "data_path": "../../stdb_cc_scene0/data/episode17.hdf5", "video_path": "../../stdb_cc_scene0/video/episode17.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode17.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode17.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 18, "pair_group_id": "place_object_basket:18", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 38, "data_path": "../../stdb_cc_scene0/data/episode18.hdf5", "video_path": "../../stdb_cc_scene0/video/episode18.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode18.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode18.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 19, "pair_group_id": "place_object_basket:19", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 39, "data_path": "../../stdb_cc_scene0/data/episode19.hdf5", "video_path": "../../stdb_cc_scene0/video/episode19.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode19.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode19.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 20, "pair_group_id": "place_object_basket:20", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 40, "data_path": "../../stdb_cc_scene0/data/episode20.hdf5", "video_path": "../../stdb_cc_scene0/video/episode20.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode20.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode20.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 21, "pair_group_id": "place_object_basket:21", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 41, "data_path": "../../stdb_cc_scene0/data/episode21.hdf5", "video_path": "../../stdb_cc_scene0/video/episode21.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode21.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode21.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 22, "pair_group_id": "place_object_basket:22", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 43, "data_path": "../../stdb_cc_scene0/data/episode22.hdf5", "video_path": "../../stdb_cc_scene0/video/episode22.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode22.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode22.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 23, "pair_group_id": "place_object_basket:23", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 44, "data_path": "../../stdb_cc_scene0/data/episode23.hdf5", "video_path": "../../stdb_cc_scene0/video/episode23.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode23.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode23.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 24, "pair_group_id": "place_object_basket:24", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 48, "data_path": "../../stdb_cc_scene0/data/episode24.hdf5", "video_path": "../../stdb_cc_scene0/video/episode24.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode24.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode24.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 25, "pair_group_id": "place_object_basket:25", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 49, "data_path": "../../stdb_cc_scene0/data/episode25.hdf5", "video_path": "../../stdb_cc_scene0/video/episode25.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode25.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode25.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 26, "pair_group_id": "place_object_basket:26", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 53, "data_path": "../../stdb_cc_scene0/data/episode26.hdf5", "video_path": "../../stdb_cc_scene0/video/episode26.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode26.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode26.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 27, "pair_group_id": "place_object_basket:27", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 55, "data_path": "../../stdb_cc_scene0/data/episode27.hdf5", "video_path": "../../stdb_cc_scene0/video/episode27.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode27.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode27.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 28, "pair_group_id": "place_object_basket:28", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 58, "data_path": "../../stdb_cc_scene0/data/episode28.hdf5", "video_path": "../../stdb_cc_scene0/video/episode28.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode28.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode28.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 29, "pair_group_id": "place_object_basket:29", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 60, "data_path": "../../stdb_cc_scene0/data/episode29.hdf5", "video_path": "../../stdb_cc_scene0/video/episode29.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode29.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode29.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 30, "pair_group_id": "place_object_basket:30", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 61, "data_path": "../../stdb_cc_scene0/data/episode30.hdf5", "video_path": "../../stdb_cc_scene0/video/episode30.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode30.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode30.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 31, "pair_group_id": "place_object_basket:31", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 62, "data_path": "../../stdb_cc_scene0/data/episode31.hdf5", "video_path": "../../stdb_cc_scene0/video/episode31.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode31.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode31.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 32, "pair_group_id": "place_object_basket:32", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 63, "data_path": "../../stdb_cc_scene0/data/episode32.hdf5", "video_path": "../../stdb_cc_scene0/video/episode32.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode32.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode32.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 33, "pair_group_id": "place_object_basket:33", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 64, "data_path": "../../stdb_cc_scene0/data/episode33.hdf5", "video_path": "../../stdb_cc_scene0/video/episode33.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode33.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode33.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 34, "pair_group_id": "place_object_basket:34", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 65, "data_path": "../../stdb_cc_scene0/data/episode34.hdf5", "video_path": "../../stdb_cc_scene0/video/episode34.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode34.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode34.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 35, "pair_group_id": "place_object_basket:35", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 66, "data_path": "../../stdb_cc_scene0/data/episode35.hdf5", "video_path": "../../stdb_cc_scene0/video/episode35.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode35.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode35.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 36, "pair_group_id": "place_object_basket:36", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 68, "data_path": "../../stdb_cc_scene0/data/episode36.hdf5", "video_path": "../../stdb_cc_scene0/video/episode36.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode36.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode36.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 37, "pair_group_id": "place_object_basket:37", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 70, "data_path": "../../stdb_cc_scene0/data/episode37.hdf5", "video_path": "../../stdb_cc_scene0/video/episode37.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode37.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode37.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 38, "pair_group_id": "place_object_basket:38", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 72, "data_path": "../../stdb_cc_scene0/data/episode38.hdf5", "video_path": "../../stdb_cc_scene0/video/episode38.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode38.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode38.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 39, "pair_group_id": "place_object_basket:39", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 73, "data_path": "../../stdb_cc_scene0/data/episode39.hdf5", "video_path": "../../stdb_cc_scene0/video/episode39.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode39.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode39.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 40, "pair_group_id": "place_object_basket:40", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 74, "data_path": "../../stdb_cc_scene0/data/episode40.hdf5", "video_path": "../../stdb_cc_scene0/video/episode40.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode40.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode40.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 41, "pair_group_id": "place_object_basket:41", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 75, "data_path": "../../stdb_cc_scene0/data/episode41.hdf5", "video_path": "../../stdb_cc_scene0/video/episode41.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode41.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode41.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 42, "pair_group_id": "place_object_basket:42", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 76, "data_path": "../../stdb_cc_scene0/data/episode42.hdf5", "video_path": "../../stdb_cc_scene0/video/episode42.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode42.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode42.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 43, "pair_group_id": "place_object_basket:43", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 80, "data_path": "../../stdb_cc_scene0/data/episode43.hdf5", "video_path": "../../stdb_cc_scene0/video/episode43.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode43.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode43.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 44, "pair_group_id": "place_object_basket:44", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 82, "data_path": "../../stdb_cc_scene0/data/episode44.hdf5", "video_path": "../../stdb_cc_scene0/video/episode44.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode44.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode44.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 45, "pair_group_id": "place_object_basket:45", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 83, "data_path": "../../stdb_cc_scene0/data/episode45.hdf5", "video_path": "../../stdb_cc_scene0/video/episode45.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode45.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode45.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 46, "pair_group_id": "place_object_basket:46", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 85, "data_path": "../../stdb_cc_scene0/data/episode46.hdf5", "video_path": "../../stdb_cc_scene0/video/episode46.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode46.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode46.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 47, "pair_group_id": "place_object_basket:47", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 86, "data_path": "../../stdb_cc_scene0/data/episode47.hdf5", "video_path": "../../stdb_cc_scene0/video/episode47.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode47.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode47.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 48, "pair_group_id": "place_object_basket:48", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 87, "data_path": "../../stdb_cc_scene0/data/episode48.hdf5", "video_path": "../../stdb_cc_scene0/video/episode48.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode48.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode48.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 49, "pair_group_id": "place_object_basket:49", "canonical_info_source": "stdb_cc_scene0", "scene_id": 0, "scene_seed": 10000, "trajectory_seed": 88, "data_path": "../../stdb_cc_scene0/data/episode49.hdf5", "video_path": "../../stdb_cc_scene0/video/episode49.mp4", "instruction_path": "../../stdb_cc_scene0/instructions/episode49.json", "traj_path": "../../stdb_cc_scene0/_traj_data/episode49.pkl", "scene_info_path": "../../stdb_cc_scene0/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 0, "pair_group_id": "place_object_basket:0", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 0, "data_path": "../../stdb_cc_scene1/data/episode0.hdf5", "video_path": "../../stdb_cc_scene1/video/episode0.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode0.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode0.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 1, "pair_group_id": "place_object_basket:1", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 2, "data_path": "../../stdb_cc_scene1/data/episode1.hdf5", "video_path": "../../stdb_cc_scene1/video/episode1.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode1.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode1.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 2, "pair_group_id": "place_object_basket:2", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 3, "data_path": "../../stdb_cc_scene1/data/episode2.hdf5", "video_path": "../../stdb_cc_scene1/video/episode2.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode2.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode2.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 3, "pair_group_id": "place_object_basket:3", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 6, "data_path": "../../stdb_cc_scene1/data/episode3.hdf5", "video_path": "../../stdb_cc_scene1/video/episode3.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode3.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode3.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 4, "pair_group_id": "place_object_basket:4", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 8, "data_path": "../../stdb_cc_scene1/data/episode4.hdf5", "video_path": "../../stdb_cc_scene1/video/episode4.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode4.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode4.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 5, "pair_group_id": "place_object_basket:5", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 9, "data_path": "../../stdb_cc_scene1/data/episode5.hdf5", "video_path": "../../stdb_cc_scene1/video/episode5.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode5.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode5.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 6, "pair_group_id": "place_object_basket:6", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 14, "data_path": "../../stdb_cc_scene1/data/episode6.hdf5", "video_path": "../../stdb_cc_scene1/video/episode6.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode6.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode6.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 7, "pair_group_id": "place_object_basket:7", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 15, "data_path": "../../stdb_cc_scene1/data/episode7.hdf5", "video_path": "../../stdb_cc_scene1/video/episode7.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode7.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode7.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 8, "pair_group_id": "place_object_basket:8", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 18, "data_path": "../../stdb_cc_scene1/data/episode8.hdf5", "video_path": "../../stdb_cc_scene1/video/episode8.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode8.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode8.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 9, "pair_group_id": "place_object_basket:9", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 22, "data_path": "../../stdb_cc_scene1/data/episode9.hdf5", "video_path": "../../stdb_cc_scene1/video/episode9.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode9.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode9.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 10, "pair_group_id": "place_object_basket:10", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 23, "data_path": "../../stdb_cc_scene1/data/episode10.hdf5", "video_path": "../../stdb_cc_scene1/video/episode10.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode10.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode10.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 11, "pair_group_id": "place_object_basket:11", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 25, "data_path": "../../stdb_cc_scene1/data/episode11.hdf5", "video_path": "../../stdb_cc_scene1/video/episode11.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode11.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode11.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 12, "pair_group_id": "place_object_basket:12", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 27, "data_path": "../../stdb_cc_scene1/data/episode12.hdf5", "video_path": "../../stdb_cc_scene1/video/episode12.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode12.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode12.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 13, "pair_group_id": "place_object_basket:13", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 28, "data_path": "../../stdb_cc_scene1/data/episode13.hdf5", "video_path": "../../stdb_cc_scene1/video/episode13.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode13.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode13.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 14, "pair_group_id": "place_object_basket:14", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 30, "data_path": "../../stdb_cc_scene1/data/episode14.hdf5", "video_path": "../../stdb_cc_scene1/video/episode14.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode14.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode14.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 15, "pair_group_id": "place_object_basket:15", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 31, "data_path": "../../stdb_cc_scene1/data/episode15.hdf5", "video_path": "../../stdb_cc_scene1/video/episode15.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode15.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode15.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 16, "pair_group_id": "place_object_basket:16", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 32, "data_path": "../../stdb_cc_scene1/data/episode16.hdf5", "video_path": "../../stdb_cc_scene1/video/episode16.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode16.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode16.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 17, "pair_group_id": "place_object_basket:17", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 36, "data_path": "../../stdb_cc_scene1/data/episode17.hdf5", "video_path": "../../stdb_cc_scene1/video/episode17.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode17.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode17.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 18, "pair_group_id": "place_object_basket:18", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 38, "data_path": "../../stdb_cc_scene1/data/episode18.hdf5", "video_path": "../../stdb_cc_scene1/video/episode18.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode18.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode18.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 19, "pair_group_id": "place_object_basket:19", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 39, "data_path": "../../stdb_cc_scene1/data/episode19.hdf5", "video_path": "../../stdb_cc_scene1/video/episode19.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode19.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode19.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 20, "pair_group_id": "place_object_basket:20", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 40, "data_path": "../../stdb_cc_scene1/data/episode20.hdf5", "video_path": "../../stdb_cc_scene1/video/episode20.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode20.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode20.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 21, "pair_group_id": "place_object_basket:21", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 41, "data_path": "../../stdb_cc_scene1/data/episode21.hdf5", "video_path": "../../stdb_cc_scene1/video/episode21.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode21.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode21.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 22, "pair_group_id": "place_object_basket:22", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 43, "data_path": "../../stdb_cc_scene1/data/episode22.hdf5", "video_path": "../../stdb_cc_scene1/video/episode22.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode22.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode22.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 23, "pair_group_id": "place_object_basket:23", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 44, "data_path": "../../stdb_cc_scene1/data/episode23.hdf5", "video_path": "../../stdb_cc_scene1/video/episode23.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode23.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode23.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 24, "pair_group_id": "place_object_basket:24", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 48, "data_path": "../../stdb_cc_scene1/data/episode24.hdf5", "video_path": "../../stdb_cc_scene1/video/episode24.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode24.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode24.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 25, "pair_group_id": "place_object_basket:25", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 49, "data_path": "../../stdb_cc_scene1/data/episode25.hdf5", "video_path": "../../stdb_cc_scene1/video/episode25.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode25.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode25.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 26, "pair_group_id": "place_object_basket:26", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 53, "data_path": "../../stdb_cc_scene1/data/episode26.hdf5", "video_path": "../../stdb_cc_scene1/video/episode26.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode26.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode26.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 27, "pair_group_id": "place_object_basket:27", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 55, "data_path": "../../stdb_cc_scene1/data/episode27.hdf5", "video_path": "../../stdb_cc_scene1/video/episode27.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode27.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode27.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 28, "pair_group_id": "place_object_basket:28", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 58, "data_path": "../../stdb_cc_scene1/data/episode28.hdf5", "video_path": "../../stdb_cc_scene1/video/episode28.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode28.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode28.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 29, "pair_group_id": "place_object_basket:29", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 60, "data_path": "../../stdb_cc_scene1/data/episode29.hdf5", "video_path": "../../stdb_cc_scene1/video/episode29.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode29.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode29.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 30, "pair_group_id": "place_object_basket:30", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 61, "data_path": "../../stdb_cc_scene1/data/episode30.hdf5", "video_path": "../../stdb_cc_scene1/video/episode30.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode30.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode30.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 31, "pair_group_id": "place_object_basket:31", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 62, "data_path": "../../stdb_cc_scene1/data/episode31.hdf5", "video_path": "../../stdb_cc_scene1/video/episode31.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode31.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode31.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 32, "pair_group_id": "place_object_basket:32", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 63, "data_path": "../../stdb_cc_scene1/data/episode32.hdf5", "video_path": "../../stdb_cc_scene1/video/episode32.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode32.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode32.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 33, "pair_group_id": "place_object_basket:33", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 64, "data_path": "../../stdb_cc_scene1/data/episode33.hdf5", "video_path": "../../stdb_cc_scene1/video/episode33.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode33.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode33.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 34, "pair_group_id": "place_object_basket:34", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 65, "data_path": "../../stdb_cc_scene1/data/episode34.hdf5", "video_path": "../../stdb_cc_scene1/video/episode34.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode34.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode34.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 35, "pair_group_id": "place_object_basket:35", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 66, "data_path": "../../stdb_cc_scene1/data/episode35.hdf5", "video_path": "../../stdb_cc_scene1/video/episode35.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode35.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode35.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 36, "pair_group_id": "place_object_basket:36", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 68, "data_path": "../../stdb_cc_scene1/data/episode36.hdf5", "video_path": "../../stdb_cc_scene1/video/episode36.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode36.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode36.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 37, "pair_group_id": "place_object_basket:37", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 70, "data_path": "../../stdb_cc_scene1/data/episode37.hdf5", "video_path": "../../stdb_cc_scene1/video/episode37.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode37.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode37.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 38, "pair_group_id": "place_object_basket:38", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 72, "data_path": "../../stdb_cc_scene1/data/episode38.hdf5", "video_path": "../../stdb_cc_scene1/video/episode38.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode38.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode38.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 39, "pair_group_id": "place_object_basket:39", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 73, "data_path": "../../stdb_cc_scene1/data/episode39.hdf5", "video_path": "../../stdb_cc_scene1/video/episode39.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode39.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode39.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 40, "pair_group_id": "place_object_basket:40", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 74, "data_path": "../../stdb_cc_scene1/data/episode40.hdf5", "video_path": "../../stdb_cc_scene1/video/episode40.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode40.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode40.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 41, "pair_group_id": "place_object_basket:41", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 75, "data_path": "../../stdb_cc_scene1/data/episode41.hdf5", "video_path": "../../stdb_cc_scene1/video/episode41.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode41.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode41.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 42, "pair_group_id": "place_object_basket:42", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 76, "data_path": "../../stdb_cc_scene1/data/episode42.hdf5", "video_path": "../../stdb_cc_scene1/video/episode42.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode42.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode42.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
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+{"task_name": "place_object_basket", "episode_id": 44, "pair_group_id": "place_object_basket:44", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 82, "data_path": "../../stdb_cc_scene1/data/episode44.hdf5", "video_path": "../../stdb_cc_scene1/video/episode44.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode44.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode44.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 45, "pair_group_id": "place_object_basket:45", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 83, "data_path": "../../stdb_cc_scene1/data/episode45.hdf5", "video_path": "../../stdb_cc_scene1/video/episode45.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode45.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode45.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 46, "pair_group_id": "place_object_basket:46", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 85, "data_path": "../../stdb_cc_scene1/data/episode46.hdf5", "video_path": "../../stdb_cc_scene1/video/episode46.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode46.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode46.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 47, "pair_group_id": "place_object_basket:47", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 86, "data_path": "../../stdb_cc_scene1/data/episode47.hdf5", "video_path": "../../stdb_cc_scene1/video/episode47.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode47.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode47.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 48, "pair_group_id": "place_object_basket:48", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 87, "data_path": "../../stdb_cc_scene1/data/episode48.hdf5", "video_path": "../../stdb_cc_scene1/video/episode48.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode48.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode48.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 49, "pair_group_id": "place_object_basket:49", "canonical_info_source": "stdb_cc_scene0", "scene_id": 1, "scene_seed": 15013, "trajectory_seed": 88, "data_path": "../../stdb_cc_scene1/data/episode49.hdf5", "video_path": "../../stdb_cc_scene1/video/episode49.mp4", "instruction_path": "../../stdb_cc_scene1/instructions/episode49.json", "traj_path": "../../stdb_cc_scene1/_traj_data/episode49.pkl", "scene_info_path": "../../stdb_cc_scene1/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "test"}
+{"task_name": "place_object_basket", "episode_id": 0, "pair_group_id": "place_object_basket:0", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 0, "data_path": "../../stdb_cc_scene2/data/episode0.hdf5", "video_path": "../../stdb_cc_scene2/video/episode0.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode0.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode0.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 1, "pair_group_id": "place_object_basket:1", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 2, "data_path": "../../stdb_cc_scene2/data/episode1.hdf5", "video_path": "../../stdb_cc_scene2/video/episode1.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode1.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode1.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 2, "pair_group_id": "place_object_basket:2", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 3, "data_path": "../../stdb_cc_scene2/data/episode2.hdf5", "video_path": "../../stdb_cc_scene2/video/episode2.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode2.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode2.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 3, "pair_group_id": "place_object_basket:3", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 6, "data_path": "../../stdb_cc_scene2/data/episode3.hdf5", "video_path": "../../stdb_cc_scene2/video/episode3.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode3.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode3.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 4, "pair_group_id": "place_object_basket:4", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 8, "data_path": "../../stdb_cc_scene2/data/episode4.hdf5", "video_path": "../../stdb_cc_scene2/video/episode4.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode4.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode4.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 5, "pair_group_id": "place_object_basket:5", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 9, "data_path": "../../stdb_cc_scene2/data/episode5.hdf5", "video_path": "../../stdb_cc_scene2/video/episode5.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode5.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode5.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 6, "pair_group_id": "place_object_basket:6", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 14, "data_path": "../../stdb_cc_scene2/data/episode6.hdf5", "video_path": "../../stdb_cc_scene2/video/episode6.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode6.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode6.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 7, "pair_group_id": "place_object_basket:7", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 15, "data_path": "../../stdb_cc_scene2/data/episode7.hdf5", "video_path": "../../stdb_cc_scene2/video/episode7.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode7.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode7.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 8, "pair_group_id": "place_object_basket:8", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 18, "data_path": "../../stdb_cc_scene2/data/episode8.hdf5", "video_path": "../../stdb_cc_scene2/video/episode8.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode8.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode8.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 9, "pair_group_id": "place_object_basket:9", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 22, "data_path": "../../stdb_cc_scene2/data/episode9.hdf5", "video_path": "../../stdb_cc_scene2/video/episode9.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode9.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode9.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 10, "pair_group_id": "place_object_basket:10", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 23, "data_path": "../../stdb_cc_scene2/data/episode10.hdf5", "video_path": "../../stdb_cc_scene2/video/episode10.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode10.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode10.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 11, "pair_group_id": "place_object_basket:11", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 25, "data_path": "../../stdb_cc_scene2/data/episode11.hdf5", "video_path": "../../stdb_cc_scene2/video/episode11.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode11.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode11.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 12, "pair_group_id": "place_object_basket:12", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 27, "data_path": "../../stdb_cc_scene2/data/episode12.hdf5", "video_path": "../../stdb_cc_scene2/video/episode12.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode12.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode12.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 13, "pair_group_id": "place_object_basket:13", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 28, "data_path": "../../stdb_cc_scene2/data/episode13.hdf5", "video_path": "../../stdb_cc_scene2/video/episode13.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode13.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode13.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 14, "pair_group_id": "place_object_basket:14", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 30, "data_path": "../../stdb_cc_scene2/data/episode14.hdf5", "video_path": "../../stdb_cc_scene2/video/episode14.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode14.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode14.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 15, "pair_group_id": "place_object_basket:15", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 31, "data_path": "../../stdb_cc_scene2/data/episode15.hdf5", "video_path": "../../stdb_cc_scene2/video/episode15.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode15.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode15.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 16, "pair_group_id": "place_object_basket:16", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 32, "data_path": "../../stdb_cc_scene2/data/episode16.hdf5", "video_path": "../../stdb_cc_scene2/video/episode16.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode16.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode16.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
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+{"task_name": "place_object_basket", "episode_id": 18, "pair_group_id": "place_object_basket:18", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 38, "data_path": "../../stdb_cc_scene2/data/episode18.hdf5", "video_path": "../../stdb_cc_scene2/video/episode18.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode18.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode18.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 19, "pair_group_id": "place_object_basket:19", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 39, "data_path": "../../stdb_cc_scene2/data/episode19.hdf5", "video_path": "../../stdb_cc_scene2/video/episode19.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode19.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode19.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 20, "pair_group_id": "place_object_basket:20", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 40, "data_path": "../../stdb_cc_scene2/data/episode20.hdf5", "video_path": "../../stdb_cc_scene2/video/episode20.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode20.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode20.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 21, "pair_group_id": "place_object_basket:21", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 41, "data_path": "../../stdb_cc_scene2/data/episode21.hdf5", "video_path": "../../stdb_cc_scene2/video/episode21.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode21.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode21.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 22, "pair_group_id": "place_object_basket:22", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 43, "data_path": "../../stdb_cc_scene2/data/episode22.hdf5", "video_path": "../../stdb_cc_scene2/video/episode22.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode22.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode22.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 23, "pair_group_id": "place_object_basket:23", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 44, "data_path": "../../stdb_cc_scene2/data/episode23.hdf5", "video_path": "../../stdb_cc_scene2/video/episode23.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode23.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode23.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 24, "pair_group_id": "place_object_basket:24", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 48, "data_path": "../../stdb_cc_scene2/data/episode24.hdf5", "video_path": "../../stdb_cc_scene2/video/episode24.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode24.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode24.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 25, "pair_group_id": "place_object_basket:25", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 49, "data_path": "../../stdb_cc_scene2/data/episode25.hdf5", "video_path": "../../stdb_cc_scene2/video/episode25.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode25.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode25.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 26, "pair_group_id": "place_object_basket:26", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 53, "data_path": "../../stdb_cc_scene2/data/episode26.hdf5", "video_path": "../../stdb_cc_scene2/video/episode26.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode26.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode26.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 27, "pair_group_id": "place_object_basket:27", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 55, "data_path": "../../stdb_cc_scene2/data/episode27.hdf5", "video_path": "../../stdb_cc_scene2/video/episode27.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode27.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode27.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 28, "pair_group_id": "place_object_basket:28", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 58, "data_path": "../../stdb_cc_scene2/data/episode28.hdf5", "video_path": "../../stdb_cc_scene2/video/episode28.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode28.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode28.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 29, "pair_group_id": "place_object_basket:29", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 60, "data_path": "../../stdb_cc_scene2/data/episode29.hdf5", "video_path": "../../stdb_cc_scene2/video/episode29.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode29.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode29.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 30, "pair_group_id": "place_object_basket:30", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 61, "data_path": "../../stdb_cc_scene2/data/episode30.hdf5", "video_path": "../../stdb_cc_scene2/video/episode30.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode30.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode30.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 31, "pair_group_id": "place_object_basket:31", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 62, "data_path": "../../stdb_cc_scene2/data/episode31.hdf5", "video_path": "../../stdb_cc_scene2/video/episode31.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode31.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode31.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 32, "pair_group_id": "place_object_basket:32", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 63, "data_path": "../../stdb_cc_scene2/data/episode32.hdf5", "video_path": "../../stdb_cc_scene2/video/episode32.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode32.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode32.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 33, "pair_group_id": "place_object_basket:33", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 64, "data_path": "../../stdb_cc_scene2/data/episode33.hdf5", "video_path": "../../stdb_cc_scene2/video/episode33.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode33.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode33.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
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+{"task_name": "place_object_basket", "episode_id": 35, "pair_group_id": "place_object_basket:35", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 66, "data_path": "../../stdb_cc_scene2/data/episode35.hdf5", "video_path": "../../stdb_cc_scene2/video/episode35.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode35.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode35.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 36, "pair_group_id": "place_object_basket:36", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 68, "data_path": "../../stdb_cc_scene2/data/episode36.hdf5", "video_path": "../../stdb_cc_scene2/video/episode36.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode36.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode36.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 37, "pair_group_id": "place_object_basket:37", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 70, "data_path": "../../stdb_cc_scene2/data/episode37.hdf5", "video_path": "../../stdb_cc_scene2/video/episode37.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode37.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode37.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 38, "pair_group_id": "place_object_basket:38", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 72, "data_path": "../../stdb_cc_scene2/data/episode38.hdf5", "video_path": "../../stdb_cc_scene2/video/episode38.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode38.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode38.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
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+{"task_name": "place_object_basket", "episode_id": 42, "pair_group_id": "place_object_basket:42", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 76, "data_path": "../../stdb_cc_scene2/data/episode42.hdf5", "video_path": "../../stdb_cc_scene2/video/episode42.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode42.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode42.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 43, "pair_group_id": "place_object_basket:43", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 80, "data_path": "../../stdb_cc_scene2/data/episode43.hdf5", "video_path": "../../stdb_cc_scene2/video/episode43.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode43.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode43.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 44, "pair_group_id": "place_object_basket:44", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 82, "data_path": "../../stdb_cc_scene2/data/episode44.hdf5", "video_path": "../../stdb_cc_scene2/video/episode44.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode44.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode44.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 45, "pair_group_id": "place_object_basket:45", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 83, "data_path": "../../stdb_cc_scene2/data/episode45.hdf5", "video_path": "../../stdb_cc_scene2/video/episode45.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode45.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode45.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 46, "pair_group_id": "place_object_basket:46", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 85, "data_path": "../../stdb_cc_scene2/data/episode46.hdf5", "video_path": "../../stdb_cc_scene2/video/episode46.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode46.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode46.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 47, "pair_group_id": "place_object_basket:47", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 86, "data_path": "../../stdb_cc_scene2/data/episode47.hdf5", "video_path": "../../stdb_cc_scene2/video/episode47.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode47.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode47.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 48, "pair_group_id": "place_object_basket:48", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 87, "data_path": "../../stdb_cc_scene2/data/episode48.hdf5", "video_path": "../../stdb_cc_scene2/video/episode48.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode48.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode48.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 49, "pair_group_id": "place_object_basket:49", "canonical_info_source": "stdb_cc_scene0", "scene_id": 2, "scene_seed": 27191, "trajectory_seed": 88, "data_path": "../../stdb_cc_scene2/data/episode49.hdf5", "video_path": "../../stdb_cc_scene2/video/episode49.mp4", "instruction_path": "../../stdb_cc_scene2/instructions/episode49.json", "traj_path": "../../stdb_cc_scene2/_traj_data/episode49.pkl", "scene_info_path": "../../stdb_cc_scene2/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "val"}
+{"task_name": "place_object_basket", "episode_id": 0, "pair_group_id": "place_object_basket:0", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 0, "data_path": "../../stdb_cc_scene3/data/episode0.hdf5", "video_path": "../../stdb_cc_scene3/video/episode0.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode0.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode0.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 1, "pair_group_id": "place_object_basket:1", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 2, "data_path": "../../stdb_cc_scene3/data/episode1.hdf5", "video_path": "../../stdb_cc_scene3/video/episode1.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode1.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode1.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 2, "pair_group_id": "place_object_basket:2", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 3, "data_path": "../../stdb_cc_scene3/data/episode2.hdf5", "video_path": "../../stdb_cc_scene3/video/episode2.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode2.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode2.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 3, "pair_group_id": "place_object_basket:3", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 6, "data_path": "../../stdb_cc_scene3/data/episode3.hdf5", "video_path": "../../stdb_cc_scene3/video/episode3.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode3.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode3.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 4, "pair_group_id": "place_object_basket:4", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 8, "data_path": "../../stdb_cc_scene3/data/episode4.hdf5", "video_path": "../../stdb_cc_scene3/video/episode4.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode4.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode4.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 5, "pair_group_id": "place_object_basket:5", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 9, "data_path": "../../stdb_cc_scene3/data/episode5.hdf5", "video_path": "../../stdb_cc_scene3/video/episode5.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode5.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode5.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 6, "pair_group_id": "place_object_basket:6", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 14, "data_path": "../../stdb_cc_scene3/data/episode6.hdf5", "video_path": "../../stdb_cc_scene3/video/episode6.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode6.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode6.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 7, "pair_group_id": "place_object_basket:7", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 15, "data_path": "../../stdb_cc_scene3/data/episode7.hdf5", "video_path": "../../stdb_cc_scene3/video/episode7.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode7.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode7.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 8, "pair_group_id": "place_object_basket:8", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 18, "data_path": "../../stdb_cc_scene3/data/episode8.hdf5", "video_path": "../../stdb_cc_scene3/video/episode8.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode8.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode8.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 9, "pair_group_id": "place_object_basket:9", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 22, "data_path": "../../stdb_cc_scene3/data/episode9.hdf5", "video_path": "../../stdb_cc_scene3/video/episode9.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode9.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode9.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 10, "pair_group_id": "place_object_basket:10", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 23, "data_path": "../../stdb_cc_scene3/data/episode10.hdf5", "video_path": "../../stdb_cc_scene3/video/episode10.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode10.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode10.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 11, "pair_group_id": "place_object_basket:11", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 25, "data_path": "../../stdb_cc_scene3/data/episode11.hdf5", "video_path": "../../stdb_cc_scene3/video/episode11.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode11.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode11.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 12, "pair_group_id": "place_object_basket:12", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 27, "data_path": "../../stdb_cc_scene3/data/episode12.hdf5", "video_path": "../../stdb_cc_scene3/video/episode12.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode12.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode12.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 13, "pair_group_id": "place_object_basket:13", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 28, "data_path": "../../stdb_cc_scene3/data/episode13.hdf5", "video_path": "../../stdb_cc_scene3/video/episode13.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode13.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode13.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 14, "pair_group_id": "place_object_basket:14", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 30, "data_path": "../../stdb_cc_scene3/data/episode14.hdf5", "video_path": "../../stdb_cc_scene3/video/episode14.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode14.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode14.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 15, "pair_group_id": "place_object_basket:15", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 31, "data_path": "../../stdb_cc_scene3/data/episode15.hdf5", "video_path": "../../stdb_cc_scene3/video/episode15.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode15.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode15.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 16, "pair_group_id": "place_object_basket:16", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 32, "data_path": "../../stdb_cc_scene3/data/episode16.hdf5", "video_path": "../../stdb_cc_scene3/video/episode16.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode16.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode16.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 17, "pair_group_id": "place_object_basket:17", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 36, "data_path": "../../stdb_cc_scene3/data/episode17.hdf5", "video_path": "../../stdb_cc_scene3/video/episode17.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode17.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode17.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 18, "pair_group_id": "place_object_basket:18", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 38, "data_path": "../../stdb_cc_scene3/data/episode18.hdf5", "video_path": "../../stdb_cc_scene3/video/episode18.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode18.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode18.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 19, "pair_group_id": "place_object_basket:19", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 39, "data_path": "../../stdb_cc_scene3/data/episode19.hdf5", "video_path": "../../stdb_cc_scene3/video/episode19.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode19.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode19.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 20, "pair_group_id": "place_object_basket:20", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 40, "data_path": "../../stdb_cc_scene3/data/episode20.hdf5", "video_path": "../../stdb_cc_scene3/video/episode20.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode20.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode20.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 21, "pair_group_id": "place_object_basket:21", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 41, "data_path": "../../stdb_cc_scene3/data/episode21.hdf5", "video_path": "../../stdb_cc_scene3/video/episode21.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode21.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode21.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 22, "pair_group_id": "place_object_basket:22", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 43, "data_path": "../../stdb_cc_scene3/data/episode22.hdf5", "video_path": "../../stdb_cc_scene3/video/episode22.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode22.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode22.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 23, "pair_group_id": "place_object_basket:23", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 44, "data_path": "../../stdb_cc_scene3/data/episode23.hdf5", "video_path": "../../stdb_cc_scene3/video/episode23.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode23.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode23.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 24, "pair_group_id": "place_object_basket:24", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 48, "data_path": "../../stdb_cc_scene3/data/episode24.hdf5", "video_path": "../../stdb_cc_scene3/video/episode24.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode24.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode24.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 25, "pair_group_id": "place_object_basket:25", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 49, "data_path": "../../stdb_cc_scene3/data/episode25.hdf5", "video_path": "../../stdb_cc_scene3/video/episode25.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode25.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode25.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 26, "pair_group_id": "place_object_basket:26", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 53, "data_path": "../../stdb_cc_scene3/data/episode26.hdf5", "video_path": "../../stdb_cc_scene3/video/episode26.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode26.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode26.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base5", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 27, "pair_group_id": "place_object_basket:27", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 55, "data_path": "../../stdb_cc_scene3/data/episode27.hdf5", "video_path": "../../stdb_cc_scene3/video/episode27.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode27.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode27.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 28, "pair_group_id": "place_object_basket:28", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 58, "data_path": "../../stdb_cc_scene3/data/episode28.hdf5", "video_path": "../../stdb_cc_scene3/video/episode28.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode28.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode28.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 29, "pair_group_id": "place_object_basket:29", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 60, "data_path": "../../stdb_cc_scene3/data/episode29.hdf5", "video_path": "../../stdb_cc_scene3/video/episode29.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode29.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode29.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 30, "pair_group_id": "place_object_basket:30", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 61, "data_path": "../../stdb_cc_scene3/data/episode30.hdf5", "video_path": "../../stdb_cc_scene3/video/episode30.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode30.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode30.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 31, "pair_group_id": "place_object_basket:31", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 62, "data_path": "../../stdb_cc_scene3/data/episode31.hdf5", "video_path": "../../stdb_cc_scene3/video/episode31.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode31.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode31.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 32, "pair_group_id": "place_object_basket:32", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 63, "data_path": "../../stdb_cc_scene3/data/episode32.hdf5", "video_path": "../../stdb_cc_scene3/video/episode32.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode32.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode32.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 33, "pair_group_id": "place_object_basket:33", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 64, "data_path": "../../stdb_cc_scene3/data/episode33.hdf5", "video_path": "../../stdb_cc_scene3/video/episode33.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode33.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode33.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 34, "pair_group_id": "place_object_basket:34", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 65, "data_path": "../../stdb_cc_scene3/data/episode34.hdf5", "video_path": "../../stdb_cc_scene3/video/episode34.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode34.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode34.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 35, "pair_group_id": "place_object_basket:35", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 66, "data_path": "../../stdb_cc_scene3/data/episode35.hdf5", "video_path": "../../stdb_cc_scene3/video/episode35.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode35.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode35.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 36, "pair_group_id": "place_object_basket:36", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 68, "data_path": "../../stdb_cc_scene3/data/episode36.hdf5", "video_path": "../../stdb_cc_scene3/video/episode36.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode36.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode36.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 37, "pair_group_id": "place_object_basket:37", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 70, "data_path": "../../stdb_cc_scene3/data/episode37.hdf5", "video_path": "../../stdb_cc_scene3/video/episode37.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode37.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode37.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 38, "pair_group_id": "place_object_basket:38", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 72, "data_path": "../../stdb_cc_scene3/data/episode38.hdf5", "video_path": "../../stdb_cc_scene3/video/episode38.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode38.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode38.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 39, "pair_group_id": "place_object_basket:39", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 73, "data_path": "../../stdb_cc_scene3/data/episode39.hdf5", "video_path": "../../stdb_cc_scene3/video/episode39.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode39.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode39.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 40, "pair_group_id": "place_object_basket:40", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 74, "data_path": "../../stdb_cc_scene3/data/episode40.hdf5", "video_path": "../../stdb_cc_scene3/video/episode40.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode40.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode40.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 41, "pair_group_id": "place_object_basket:41", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 75, "data_path": "../../stdb_cc_scene3/data/episode41.hdf5", "video_path": "../../stdb_cc_scene3/video/episode41.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode41.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode41.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 42, "pair_group_id": "place_object_basket:42", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 76, "data_path": "../../stdb_cc_scene3/data/episode42.hdf5", "video_path": "../../stdb_cc_scene3/video/episode42.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode42.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode42.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base0", "{B}": "110_basket/base1", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 43, "pair_group_id": "place_object_basket:43", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 80, "data_path": "../../stdb_cc_scene3/data/episode43.hdf5", "video_path": "../../stdb_cc_scene3/video/episode43.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode43.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode43.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "081_playingcards/base2", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 44, "pair_group_id": "place_object_basket:44", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 82, "data_path": "../../stdb_cc_scene3/data/episode44.hdf5", "video_path": "../../stdb_cc_scene3/video/episode44.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode44.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode44.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base0", "{a}": "right", "{b}": "left"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 45, "pair_group_id": "place_object_basket:45", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 83, "data_path": "../../stdb_cc_scene3/data/episode45.hdf5", "video_path": "../../stdb_cc_scene3/video/episode45.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode45.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode45.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 46, "pair_group_id": "place_object_basket:46", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 85, "data_path": "../../stdb_cc_scene3/data/episode46.hdf5", "video_path": "../../stdb_cc_scene3/video/episode46.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode46.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode46.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base4", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 47, "pair_group_id": "place_object_basket:47", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 86, "data_path": "../../stdb_cc_scene3/data/episode47.hdf5", "video_path": "../../stdb_cc_scene3/video/episode47.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode47.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode47.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "081_playingcards/base0", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 48, "pair_group_id": "place_object_basket:48", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 87, "data_path": "../../stdb_cc_scene3/data/episode48.hdf5", "video_path": "../../stdb_cc_scene3/video/episode48.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode48.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode48.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base3", "{B}": "110_basket/base1", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
+{"task_name": "place_object_basket", "episode_id": 49, "pair_group_id": "place_object_basket:49", "canonical_info_source": "stdb_cc_scene0", "scene_id": 3, "scene_seed": 38947, "trajectory_seed": 88, "data_path": "../../stdb_cc_scene3/data/episode49.hdf5", "video_path": "../../stdb_cc_scene3/video/episode49.mp4", "instruction_path": "../../stdb_cc_scene3/instructions/episode49.json", "traj_path": "../../stdb_cc_scene3/_traj_data/episode49.pkl", "scene_info_path": "../../stdb_cc_scene3/scene_info.json", "canonical_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "observed_info": {"{A}": "057_toycar/base1", "{B}": "110_basket/base0", "{a}": "left", "{b}": "right"}, "is_alignment_valid": true, "split": "train"}
diff --git a/raw/robotwin_stdb_cc/place_object_basket/manifests/scene03_train_scene2_val_scene1_test/stdb_cc_manifest.summary.json b/raw/robotwin_stdb_cc/place_object_basket/manifests/scene03_train_scene2_val_scene1_test/stdb_cc_manifest.summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d10667a829daf674971c3e0704255d97e4a23f4
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/manifests/scene03_train_scene2_val_scene1_test/stdb_cc_manifest.summary.json
@@ -0,0 +1,18 @@
+{
+  "task_name": "place_object_basket",
+  "output_path": "/data/lyang/xsb_ws/260114lyang/sim/RoboTwin/data/place_object_basket/manifests/scene03_train_scene2_val_scene1_test/stdb_cc_manifest.jsonl",
+  "row_count": 200,
+  "valid_row_count": 200,
+  "invalid_row_count": 0,
+  "expected_row_count": 200,
+  "scene_count": 4,
+  "canonical_scene": "stdb_cc_scene0",
+  "overall_valid": true,
+  "path_mode": "relative",
+  "split_scheme": "scene03_train_scene2_val_scene1_test",
+  "split_counts": {
+    "train": 100,
+    "test": 50,
+    "val": 50
+  }
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode0.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b36ec612a5126783ee8120229db3e29b000383c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the toycar for kids, put the toycar for kids into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Move the toycar for kids to the plastic basket, then shift the plastic basket.",
+    "Put the toycar for kids in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the plastic basket, slide the plastic basket lightly.",
+    "Set the toycar with smiling face design in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Place the small blue car-shaped toycar into the handheld basket and push the handheld basket slightly away.",
+    "Pick the bright blue toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the blue toycar with white windows, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the small blue car-shaped toycar, put it inside the bright yellow basket.",
+    "Lift the glossy blue toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Take the toycar with smiling face design, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Pick the bright blue toycar, place it in the basket with black handle.",
+    "Use one arm to place the blue toycar with white windows in the basket with perforated sides.",
+    "Lift the bright blue toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Use the left arm to grab the plastic toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Use one arm to place the bright blue toycar in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Place the toycar with rounded edges in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Grab the toycar with black and orange wheels, drop it in the handheld basket, shift the handheld basket.",
+    "Use the left arm to pick the lightweight toycar, then use the right arm for the basket with black handle.",
+    "Use one arm to grab the lightweight toycar, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the toycar for kids, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Lift the bright blue toycar, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels and drop it in the basket with arched black grip.",
+    "Grab the lightweight toycar, set it into the yellow basket.",
+    "Pick and move the glossy blue toycar, then shift the rectangular basket with smooth surface.",
+    "Pick the toycar with black and orange wheels and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick up the small toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Put the plastic toycar in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Pick up the toycar with rounded edges and set it inside the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels, drop in the plastic basket, and move the plastic basket.",
+    "Grab the toycar with rounded edges, place it in the basket with black handle, then move the basket with black handle away.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the plastic basket.",
+    "Pick up the glossy blue toycar, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Take the small toycar, put the small toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Move the toycar with rounded edges to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Put the toycar with rounded edges in the handheld basket and pull the handheld basket away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Set the toycar with rounded edges in the handheld basket, and shift the handheld basket away.",
+    "Place the palm-sized plastic toycar into the yellow basket and push the yellow basket slightly away.",
+    "Pick the blue toycar with white windows, place it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Grab the plastic toycar, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the palm-sized plastic toycar, put it inside the yellow basket.",
+    "Lift the toycar for kids using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm.",
+    "Take the glossy blue toycar, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick the toycar with black and orange wheels, place it in the basket with perforated sides.",
+    "Use one arm to place the small toycar in the rectangular yellow basket.",
+    "Lift the lightweight toycar, place it into the yellow basket, move the yellow basket.",
+    "Use the left arm to grab the small toycar, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Use one arm to place the toycar with smiling face design in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Place the toycar with rounded edges in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Grab the toycar with smiling face design, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use the left arm to pick the toycar with black and orange wheels, then use the right arm for the rectangular basket with smooth surface.",
+    "Use one arm to grab the bright blue toycar, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the toycar with smiling face design, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Lift the toycar with rounded edges, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the palm-sized plastic toycar and drop it in the plastic basket.",
+    "Grab the toycar with smiling face design, set it into the basket with black handle.",
+    "Pick and move the small blue car-shaped toycar, then shift the bright yellow basket.",
+    "Pick the plastic toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick up the lightweight toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Put the small toycar in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Pick up the bright blue toycar and set it inside the yellow basket.",
+    "Grab the toycar for kids, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the toycar for kids, place it in the handheld basket, then move the handheld basket away.",
+    "Grab the plastic toycar with one arm, drop the plastic toycar in the handheld basket.",
+    "Pick up the toycar with black and orange wheels, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Take the toycar for kids, put the toycar for kids into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Move the palm-sized plastic toycar to the plastic basket, then shift the plastic basket.",
+    "Put the glossy blue toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Set the small blue car-shaped toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Place the blue toycar with white windows into the handheld basket and push the handheld basket slightly away.",
+    "Pick the toycar for kids, place it in the handheld basket, shift the handheld basket.",
+    "Grab the palm-sized plastic toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Pick the small blue car-shaped toycar, put it inside the plastic basket.",
+    "Lift the toycar with rounded edges using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Take the lightweight toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Pick the plastic toycar, place it in the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar for kids in the basket with black handle.",
+    "Lift the lightweight toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Use the left arm to grab the toycar with smiling face design, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Use one arm to place the toycar for kids in the plastic basket, adjust the plastic basket.",
+    "Place the toycar with rounded edges in the plastic basket, then grab the plastic basket.",
+    "Grab the toycar with rounded edges, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the yellow basket.",
+    "Use one arm to grab the palm-sized plastic toycar, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the plastic toycar, place it in the yellow basket, grab the yellow basket.",
+    "Lift the toycar with smiling face design, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Grab the toycar with rounded edges and drop it in the carrying basket with black plastic handle.",
+    "Grab the toycar with black and orange wheels, set it into the medium yellow basket with slots.",
+    "Pick and move the blue toycar with white windows, then shift the handheld basket.",
+    "Pick the toycar for kids and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick up the toycar with rounded edges and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Put the bright blue toycar in the basket with black handle, then move the basket with black handle away slightly.",
+    "Pick up the lightweight toycar and set it inside the plastic basket.",
+    "Grab the toycar for kids, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Grab the blue toycar with white windows, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the basket with perforated sides.",
+    "Pick up the palm-sized plastic toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the basket with perforated sides, shift the basket with perforated sides."
+  ],
+  "unseen": [
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode1.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbba8c8be8ed41df79cc3cd84ac19c940ef99044
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the toycar for kids, put it inside the basket with arched black grip.",
+    "Use the left arm to grab the small blue car-shaped toycar, place it in the plastic basket, and move the plastic basket using the right arm.",
+    "Set the bright blue toycar in the plastic basket, and shift the plastic basket away.",
+    "Lift the glossy blue toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the palm-sized plastic toycar using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Use one arm to grab the bright blue toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the plastic toycar, place it in the yellow basket, shift the yellow basket.",
+    "Put the lightweight toycar in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the toycar with black and orange wheels to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick and move the plastic toycar, then shift the rectangular basket with smooth surface.",
+    "Use one arm to place the blue toycar with white windows in the bright yellow basket, adjust the bright yellow basket.",
+    "Place the toycar with rounded edges into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick the lightweight toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Pick the plastic toycar, drop the plastic toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Put the lightweight toycar in the handheld basket and pull the handheld basket away.",
+    "Pick up the bright blue toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the palm-sized plastic toycar, drop in the yellow basket, and move the yellow basket.",
+    "Pick up the toycar with smiling face design, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Use the left arm to pick the blue toycar with white windows, then use the right arm for the rectangular yellow basket.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the bright yellow basket, shift the bright yellow basket.",
+    "Pick up the small toycar, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the palm-sized plastic toycar and drop it in the plastic basket.",
+    "Use one arm to place the plastic toycar in the handheld basket.",
+    "Grab the toycar with rounded edges, set it into the medium yellow basket with slots.",
+    "Grab the toycar for kids, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Place the toycar with black and orange wheels in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Take the small toycar, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Pick the lightweight toycar, place it in the carrying basket with black plastic handle.",
+    "Grab the palm-sized plastic toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Pick up the small blue car-shaped toycar and set it inside the basket with black handle.",
+    "Lift the plastic toycar, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the toycar for kids, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Grab the toycar for kids with one arm, drop the toycar for kids in the bright yellow basket.",
+    "Pick the palm-sized plastic toycar, put it inside the medium yellow basket with slots.",
+    "Use the left arm to grab the lightweight toycar, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Set the blue toycar with white windows in the handheld basket, and shift the handheld basket away.",
+    "Lift the toycar with smiling face design, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the small blue car-shaped toycar using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the plastic basket, then move the plastic basket.",
+    "Pick the small toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Put the toycar with black and orange wheels in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the toycar with black and orange wheels to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick and move the lightweight toycar, then shift the yellow basket for carrying stuff.",
+    "Use one arm to place the toycar with smiling face design in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Place the toycar with rounded edges into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick the lightweight toycar and position it in the handheld basket, move the handheld basket slightly.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Put the lightweight toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the toycar with smiling face design and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the toycar with smiling face design, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the palm-sized plastic toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the bright yellow basket.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the yellow basket, shift the yellow basket.",
+    "Pick up the blue toycar with white windows, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar for kids and drop it in the yellow basket.",
+    "Use one arm to place the small blue car-shaped toycar in the plastic basket.",
+    "Grab the glossy blue toycar, set it into the rectangular yellow basket.",
+    "Grab the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Place the lightweight toycar in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Take the small blue car-shaped toycar, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick the toycar for kids, place it in the bright yellow basket.",
+    "Grab the toycar with smiling face design, place it in the yellow basket, then move the yellow basket away.",
+    "Pick up the bright blue toycar and set it inside the medium yellow basket with slots.",
+    "Lift the glossy blue toycar, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Grab the glossy blue toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Grab the toycar with black and orange wheels with one arm, drop the toycar with black and orange wheels in the yellow basket for carrying stuff.",
+    "Pick the toycar with black and orange wheels, put it inside the rectangular yellow basket.",
+    "Use the left arm to grab the toycar for kids, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Set the palm-sized plastic toycar in the yellow basket, and shift the yellow basket away.",
+    "Lift the plastic toycar, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Lift the small blue car-shaped toycar using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Use one arm to grab the glossy blue toycar, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick the small toycar, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Put the small blue car-shaped toycar in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Move the toycar with rounded edges to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick and move the blue toycar with white windows, then shift the rectangular basket with smooth surface.",
+    "Use one arm to place the toycar with rounded edges in the basket with black handle, adjust the basket with black handle.",
+    "Place the bright blue toycar into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick the bright blue toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick the palm-sized plastic toycar, drop the palm-sized plastic toycar in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Put the glossy blue toycar in the yellow basket and pull the yellow basket away.",
+    "Pick up the toycar with black and orange wheels and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the toycar with smiling face design, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the small toycar, place it in the handheld basket, grab the handheld basket.",
+    "Use the left arm to pick the toycar for kids, then use the right arm for the carrying basket with black plastic handle.",
+    "Take the bright blue toycar, put the bright blue toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the lightweight toycar, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Grab the bright blue toycar and drop it in the basket with arched black grip.",
+    "Use one arm to place the toycar for kids in the basket with perforated sides.",
+    "Grab the small blue car-shaped toycar, set it into the rectangular yellow basket.",
+    "Grab the toycar with smiling face design, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Place the small toycar in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Take the toycar with smiling face design, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Pick the small blue car-shaped toycar, place it in the basket with black handle.",
+    "Grab the toycar with black and orange wheels, place it in the handheld basket, then move the handheld basket away.",
+    "Pick up the toycar for kids and set it inside the yellow basket for carrying stuff.",
+    "Lift the toycar with smiling face design, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Grab the lightweight toycar, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the rectangular yellow basket.",
+    "Pick the toycar with rounded edges, put it inside the basket with black handle."
+  ],
+  "unseen": [
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode10.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..b620cbd491b8c4327a0f7e32978d738d2666a01b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact red playingcards pack, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Use the right arm to pick the red playingcards box, then use the left arm for the smooth ribbed light brown basket.",
+    "Use one arm to place the small playingcards pack in the brown basket with woven ridges.",
+    "Use one arm to place the yellow and red playingcards box in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the box for playingcards in the basket with handle, then move the basket with handle away slightly.",
+    "Lift the yellow and red playingcards box using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the smooth playingcards pack, place it in the basket for holding items.",
+    "Place the box for playingcards in the basket for holding items, then grab the basket for holding items.",
+    "Use the right arm to grab the red and yellow playingcards case, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Set the playingcards storage box in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick up the hand-sized playingcards container, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Take the rectangular playingcards case, set it in the woven basket, shift the woven basket lightly.",
+    "Lift the small playingcards pack, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Pick the yellow and red playingcards box, put it inside the basket with handle.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Put the yellow and red playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Place the box for playingcards into the brown basket and push the brown basket slightly away.",
+    "Grab the compact red playingcards pack, set it into the woven basket.",
+    "Pick up the small playingcards pack and set it inside the basket with handle.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the basket for holding items, slide the basket for holding items lightly.",
+    "Move the glossy rectangular playingcards box to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards pack, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the rectangular playingcards case, drop it in the woven basket, then move the woven basket.",
+    "Pick the red playingcards box, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick and move the small playingcards pack, then shift the brown basket with woven ridges.",
+    "Pick up the rectangular playingcards case, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the wooden basket with curved handle.",
+    "Grab the red and yellow playingcards case and drop it in the basket for carrying things.",
+    "Pick the playingcards box with white accents and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the brown basket, then move the brown basket.",
+    "Grab the box for playingcards, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the playingcards box with white accents, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Lift the box for playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to pick the red playingcards box, then use the left arm for the basket made of woven wood.",
+    "Use one arm to place the rectangular playingcards case in the brown basket with woven ridges.",
+    "Use one arm to place the box for playingcards in the light brown oval basket, adjust the light brown oval basket.",
+    "Put the playingcards storage box in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Lift the yellow and red playingcards box using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the brown basket, shift the brown basket.",
+    "Pick the red playingcards box, place it in the brown basket.",
+    "Place the red playingcards box in the brown basket, then grab the brown basket.",
+    "Use the right arm to grab the rectangular playingcards case, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Set the smooth playingcards pack in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the small playingcards pack, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Take the red playingcards box, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Lift the glossy rectangular playingcards box, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick the small playingcards pack, put it inside the light brown oval basket.",
+    "Use one arm to grab the playingcards storage box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the red playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Place the red and yellow playingcards case into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Grab the playingcards storage box, set it into the basket for holding items.",
+    "Pick up the red playingcards box and set it inside the brown basket.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the basket with handle, slide the basket with handle lightly.",
+    "Move the playingcards box with white accents to the basket for holding items, then shift the basket for holding items.",
+    "Grab the playingcards storage box, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Grab the glossy rectangular playingcards box, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the yellow and red playingcards box, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick and move the small playingcards pack, then shift the basket with handle.",
+    "Pick up the red and yellow playingcards case, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the oval-shaped basket with woven body.",
+    "Grab the compact red playingcards pack and drop it in the basket made of woven wood.",
+    "Pick the playingcards storage box and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the smooth playingcards pack and drop it in the woven basket, then move the woven basket.",
+    "Grab the rectangular playingcards case, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the box for playingcards, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Lift the hand-sized playingcards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to pick the playingcards storage box, then use the left arm for the oval-shaped basket with woven body.",
+    "Use one arm to place the smooth playingcards pack in the basket with loop handle.",
+    "Use one arm to place the compact red playingcards pack in the woven basket, adjust the woven basket.",
+    "Put the red playingcards box in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Lift the hand-sized playingcards container using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the red and yellow playingcards case, place it in the brown basket.",
+    "Place the red playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Use the right arm to grab the rectangular playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Set the yellow and red playingcards box in the basket with handle, and shift the basket with handle away.",
+    "Pick up the box for playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Take the hand-sized playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Lift the red and yellow playingcards case, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the glossy rectangular playingcards box, put it inside the basket for carrying things.",
+    "Use one arm to grab the red playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the small playingcards pack in the basket with handle and pull the basket with handle away.",
+    "Place the compact red playingcards pack into the brown basket and push the brown basket slightly away.",
+    "Grab the playingcards storage box, set it into the woven basket.",
+    "Pick up the playingcards box with white accents and set it inside the basket for holding items.",
+    "Pick the red playingcards box, drop the red playingcards box in the brown basket, slide the brown basket lightly.",
+    "Move the box for playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the box for playingcards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Grab the playingcards box with white accents, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the hand-sized playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick and move the yellow and red playingcards box, then shift the smooth ribbed light brown basket.",
+    "Pick up the yellow and red playingcards box, place it in the basket with handle, grab the basket with handle.",
+    "Grab the red and yellow playingcards case with one arm, drop the red and yellow playingcards case in the basket made of woven wood.",
+    "Grab the yellow and red playingcards box and drop it in the basket for holding items.",
+    "Pick the box for playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the playingcards storage box, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the compact red playingcards pack, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Lift the box for playingcards, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode11.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7b3a3e6a05ac60e9761ab21b339613583542cf
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the light brown oval basket.",
+    "Put the yellow and red playingcards box in the brown basket, then move the brown basket away slightly.",
+    "Grab the red and yellow playingcards case, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Place the red playingcards box into the basket with handle and push the basket with handle slightly away.",
+    "Use one arm to place the smooth playingcards pack in the basket made of woven wood.",
+    "Move the glossy rectangular playingcards box to the basket for holding items, then shift the basket for holding items.",
+    "Grab the smooth playingcards pack, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the rectangular playingcards case, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Lift the small playingcards pack 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.",
+    "Use the left arm to grab the red and yellow playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Set the glossy rectangular playingcards box in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the glossy rectangular playingcards box, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to grab the hand-sized playingcards container, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the woven basket, slide the woven basket lightly.",
+    "Pick the playingcards box with white accents, put it inside the basket with loop handle.",
+    "Grab the playingcards box with white accents with one arm, drop the playingcards box with white accents in the woven basket.",
+    "Grab the hand-sized playingcards container and drop it in the basket made of woven wood.",
+    "Pick the hand-sized playingcards container and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the red playingcards box, set it into the brown basket with woven ridges.",
+    "Pick the compact red playingcards pack, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick the playingcards box with white accents, place it in the brown basket with woven ridges.",
+    "Grab the red playingcards box, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the box for playingcards, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Place the smooth playingcards pack in the light brown oval basket, then grab the light brown oval basket.",
+    "Lift the box for playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Put the smooth playingcards pack in the woven basket and pull the woven basket away.",
+    "Lift the compact red playingcards pack, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the playingcards storage box and set it inside the basket with handle.",
+    "Take the playingcards storage box, put the playingcards storage box into the light brown oval basket, shift the light brown oval basket.",
+    "Take the playingcards box with white accents, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick and move the smooth playingcards pack, then shift the wooden basket with curved handle.",
+    "Use one arm to place the rectangular playingcards case in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick up the yellow and red playingcards box and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the oval-shaped basket with woven body.",
+    "Put the rectangular playingcards case in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the yellow and red playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Place the red and yellow playingcards case into the basket with handle and push the basket with handle slightly away.",
+    "Use one arm to place the playingcards storage box in the oval-shaped basket with woven body.",
+    "Move the hand-sized playingcards container to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the hand-sized playingcards container, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the red and yellow playingcards case, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Lift the smooth playingcards pack using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Use the left arm to grab the red playingcards box, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Set the compact red playingcards pack in the basket with handle, and shift the basket with handle away.",
+    "Pick up the box for playingcards, put it in the basket with handle, shift the basket with handle a little.",
+    "Use one arm to grab the yellow and red playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the playingcards box with white accents, put it inside the basket for carrying things.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the light brown oval basket.",
+    "Grab the yellow and red playingcards box and drop it in the wooden basket with curved handle.",
+    "Pick the box for playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Grab the hand-sized playingcards container, set it into the light brown oval basket.",
+    "Pick the box for playingcards, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the playingcards storage box, place it in the basket with handle.",
+    "Grab the playingcards storage box, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the smooth playingcards pack, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Place the playingcards storage box in the woven basket, then grab the woven basket.",
+    "Lift the box for playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the yellow and red playingcards box in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Lift the red playingcards box, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the playingcards box with white accents and set it inside the basket with loop handle.",
+    "Take the red playingcards box, put the red playingcards box into the brown basket, shift the brown basket.",
+    "Take the compact red playingcards pack, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick and move the box for playingcards, then shift the oval-shaped basket with woven body.",
+    "Use one arm to place the box for playingcards in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the box for playingcards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the basket for carrying things.",
+    "Put the glossy rectangular playingcards box in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the small playingcards pack, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Place the small playingcards pack into the woven basket and push the woven basket slightly away.",
+    "Use one arm to place the playingcards box with white accents in the basket with handle.",
+    "Move the playingcards storage box to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the small playingcards pack, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick up the yellow and red playingcards box, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Use the left arm to grab the red and yellow playingcards case, place it in the woven basket, and move the woven basket using the right arm.",
+    "Set the small playingcards pack in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Pick up the red playingcards box, put it in the brown basket, shift the brown basket a little.",
+    "Use one arm to grab the yellow and red playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Pick the red and yellow playingcards case, put it inside the brown basket.",
+    "Grab the glossy rectangular playingcards box with one arm, drop the glossy rectangular playingcards box in the light brown oval basket.",
+    "Grab the box for playingcards and drop it in the smooth ribbed light brown basket.",
+    "Pick the box for playingcards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the compact red playingcards pack, set it into the light brown oval basket.",
+    "Pick the hand-sized playingcards container, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, place it in the smooth ribbed light brown basket.",
+    "Grab the rectangular playingcards case, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the glossy rectangular playingcards box, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Place the box for playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the playingcards box with white accents, place it into the light brown oval basket, move the light brown oval basket.",
+    "Put the hand-sized playingcards container in the woven basket and pull the woven basket away.",
+    "Lift the rectangular playingcards case, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Pick up the yellow and red playingcards box and set it inside the light brown oval basket.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the basket for carrying things, shift the basket for carrying things.",
+    "Take the glossy rectangular playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Pick and move the yellow and red playingcards box, then shift the light brown oval basket.",
+    "Use one arm to place the box for playingcards in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the rectangular playingcards case and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Use the left arm to pick the glossy rectangular playingcards box, then use the right arm for the brown basket."
+  ],
+  "unseen": [
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, 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 box for playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode12.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..25938cee4449f5e926a7b042db66de1afa91aeca
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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 box of playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Grab the blue carton for playingcards, set it into the light brown oval basket.",
+    "Put the small playingcards container in the woven basket, then move the woven basket away slightly.",
+    "Grab the palm-sized playingcards carton and drop it in the basket for holding items.",
+    "Move the blue pack holding playingcards to the woven basket, then shift the woven basket.",
+    "Pick the rectangular blue playingcards case, put it inside the basket with loop handle.",
+    "Pick up the playingcards box with white symbols and set it inside the basket for carrying things.",
+    "Lift the blue carton for playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Use the right arm to grab the card box with golden designs, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Put the rectangular blue playingcards case in the woven basket and pull the woven basket away.",
+    "Pick up the small playingcards container, put it in the woven basket, shift the woven basket a little.",
+    "Take the blue playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket, then move the brown basket.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue and white playingcards packaging, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Grab the small playingcards container, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the card box with golden designs, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Place the playingcards pack with blue top into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket, then move the brown basket.",
+    "Pick the blue and white playingcards packaging and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the brown basket, slide the brown basket lightly.",
+    "Use the right arm to pick the blue carton for playingcards, then use the left arm for the wooden basket with curved handle.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the card box with golden designs and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the box of playingcards, then shift the basket for carrying things.",
+    "Grab the blue playingcards box, drop in the woven basket, and move the woven basket.",
+    "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 small playingcards container using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use one arm to place the blue and white playingcards packaging in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the small playingcards container, 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 smooth ribbed light brown basket.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle.",
+    "Set the small playingcards container in the brown basket, and shift the brown basket away.",
+    "Lift the palm-sized playingcards carton, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Grab the palm-sized playingcards carton, set it into the light brown oval basket.",
+    "Put the box of playingcards in the woven basket, then move the woven basket away slightly.",
+    "Grab the rectangular blue playingcards case and drop it in the oval-shaped basket with woven body.",
+    "Move the blue and white playingcards packaging to the basket with handle, then shift the basket with handle.",
+    "Pick the small playingcards container, put it inside the basket with loop handle.",
+    "Pick up the playingcards pack with blue top and set it inside the brown basket.",
+    "Lift the blue pack holding playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the left arm.",
+    "Put the card box with golden designs in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick up the blue pack holding playingcards, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Take the card box with golden designs, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Grab the playingcards box with white symbols, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick the card box with golden designs, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "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.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the rectangular blue playingcards case, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Place the blue and white playingcards packaging into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "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.",
+    "Pick the small playingcards container and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick the box of playingcards, drop the box of playingcards in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Use the right arm to pick the box of playingcards, then use the left arm for the basket for holding items.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the box of playingcards and drop it in the basket with handle, then move the basket with handle.",
+    "Pick and move the playingcards box with white symbols, then shift the basket with handle.",
+    "Grab the card box with golden designs, drop in the light brown oval basket, and move the light brown oval basket.",
+    "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.",
+    "Lift the card box with golden designs using the right arm, drop it in the basket with handle, then push the basket with handle via the left arm.",
+    "Use one arm to place the box of playingcards in the brown basket, adjust the brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the basket for holding items.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket with woven ridges.",
+    "Set the blue playingcards box in the basket for holding items, and shift the basket for holding items away.",
+    "Lift the small playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the blue and white playingcards packaging, set it into the light brown oval basket.",
+    "Put the small playingcards container in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the small playingcards container and drop it in the basket with handle.",
+    "Move the palm-sized playingcards carton to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick the blue and white playingcards packaging, put it inside the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and set it inside the oval-shaped basket with woven body.",
+    "Lift the blue and white playingcards packaging, place it into the basket with handle, move the basket with handle.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Put the playingcards box with white symbols in the brown basket and pull the brown basket 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.",
+    "Take the palm-sized playingcards carton, set it in the woven basket, shift the woven basket lightly.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the small playingcards container, place it in the brown basket, shift the brown basket.",
+    "Grab the blue playingcards box, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Grab the blue carton for playingcards, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the playingcards box with white symbols, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Place the blue playingcards box into the brown basket and push the brown basket slightly away.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the woven basket, then move the woven basket.",
+    "Pick the blue pack holding playingcards and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Use the right arm to pick the rectangular blue playingcards case, then use the left arm for the woven basket.",
+    "Place the small playingcards container in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the small playingcards container, then shift the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, drop in the brown basket, and move the brown basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the blue carton for playingcards using the right arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the left arm.",
+    "Use one arm to place the blue playingcards box in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick the blue carton for playingcards, place it in the basket with handle.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the smooth ribbed light brown basket.",
+    "Use one arm to place the smooth playingcards holder in the basket with loop handle.",
+    "Set the small playingcards container in the brown basket, and shift the brown basket away."
+  ],
+  "unseen": [
+    "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 pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "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.",
+    "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 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 small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the 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 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 oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the 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 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.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards 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 pack and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the 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 oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "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 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.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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 basket with rounded edges.",
+    "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 medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, 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.",
+    "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, 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.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "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 basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode13.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71a7314f3d7699a0444cb2fe2e7516e26431e14
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the bright blue toycar with roof buttons, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick and move the bright blue toycar with roof buttons, then shift the bright yellow basket.",
+    "Lift the bright blue toycar with roof buttons, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Take the hand-sized rolling toycar, put the hand-sized rolling toycar into the handheld basket, shift the handheld basket.",
+    "Pick the compact glossy blue toycar, put it inside the rectangular yellow basket.",
+    "Pick up the plastic toycar with smooth finish and set it inside the bright yellow basket.",
+    "Put the bright blue toycar with roof buttons in the basket with black handle, then move the basket with black handle away slightly.",
+    "Lift the compact glossy blue toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Use one arm to place the toycar with black wheels in the rectangular yellow basket.",
+    "Pick up the kids' toycar in bright blue, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Pick the hand-sized rolling toycar, drop the hand-sized rolling toycar in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Move the plastic toycar with smooth finish to the plastic basket, then shift the plastic basket.",
+    "Grab the compact glossy blue toycar, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Put the toycar with dark gray windows in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Pick up the kids' toycar in bright blue and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the plastic toycar with smooth finish, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to grab the kids' toycar in bright blue, place it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar made of plastic material, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Grab the compact glossy blue toycar with one arm, drop the compact glossy blue toycar in the basket with black handle.",
+    "Use one arm to place the toycar with dark gray windows in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Take the blue toycar with yellow roof accents, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick up the toycar with black wheels, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the small plastic toycar in the handheld basket, then grab the handheld basket.",
+    "Grab the kids' toycar in bright blue, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with rounded edges, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the toycar featuring black and white wheels, set it into the bright yellow basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the left arm.",
+    "Use the right arm to pick the toycar with dark gray windows, then use the left arm for the carrying basket with black plastic handle.",
+    "Place the bright blue toycar with roof buttons into the yellow basket and push the yellow basket slightly away.",
+    "Pick the plastic toycar with smooth finish and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the compact glossy blue toycar, place it in the basket with arched black grip.",
+    "Set the plastic toycar with smooth finish in the carrying basket with black plastic handle, and shift the carrying basket with black plastic handle away.",
+    "Grab the bright blue toycar with roof buttons and drop it in the yellow basket.",
+    "Use the right arm to grab the toycar with black wheels, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick and move the toycar made of plastic material, then shift the basket with perforated sides.",
+    "Lift the kids' toycar in bright blue, place it into the yellow basket, move the yellow basket.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar featuring black and white wheels, put it inside the handheld basket.",
+    "Pick up the kids' toycar in bright blue and set it inside the rectangular basket with smooth surface.",
+    "Put the toycar made of plastic material in the basket with black handle, then move the basket with black handle away slightly.",
+    "Lift the compact glossy blue toycar, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Use one arm to place the toycar featuring black and white wheels in the basket with perforated sides.",
+    "Pick up the hand-sized rolling toycar, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Move the toycar with dark gray windows to the yellow basket, then shift the yellow basket.",
+    "Grab the hand-sized rolling toycar, drop in the yellow basket, and move the yellow basket.",
+    "Put the toycar with rounded edges in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Pick up the hand-sized rolling toycar and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Grab the toycar made of plastic material, drop it in the basket with black handle, shift the basket with black handle.",
+    "Use one arm to grab the toycar with rounded edges, place it in the handheld basket, then move the handheld basket.",
+    "Grab the toycar with dark gray windows, place it in the handheld basket, then move the handheld basket away.",
+    "Grab the toycar with black wheels with one arm, drop the toycar with black wheels in the basket with perforated sides.",
+    "Use one arm to place the toycar with rounded edges in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Take the toycar featuring black and white wheels, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick up the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Place the bright blue toycar with roof buttons in the handheld basket, then grab the handheld basket.",
+    "Grab the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the plastic toycar with smooth finish, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the toycar with black wheels, set it into the plastic basket.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use the right arm to pick the small plastic toycar, then use the left arm for the medium yellow basket with slots.",
+    "Place the blue toycar with yellow roof accents into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick the toycar with dark gray windows and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Pick the toycar with rounded edges, place it in the handheld basket.",
+    "Set the toycar featuring black and white wheels in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the toycar with black wheels and drop it in the bright yellow basket.",
+    "Use the right arm to grab the kids' toycar in bright blue, place it in the yellow basket, and move the yellow basket using the left arm.",
+    "Pick and move the toycar made of plastic material, then shift the yellow basket for carrying stuff.",
+    "Lift the small plastic toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Take the toycar with black wheels, put the toycar with black wheels into the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar with rounded edges, put it inside the yellow basket for carrying stuff.",
+    "Pick up the hand-sized rolling toycar and set it inside the bright yellow basket.",
+    "Put the bright blue toycar with roof buttons in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Lift the toycar made of plastic material, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Use one arm to place the bright blue toycar with roof buttons in the yellow basket for carrying stuff.",
+    "Pick up the plastic toycar with smooth finish, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick the bright blue toycar with roof buttons, drop the bright blue toycar with roof buttons in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Move the toycar with dark gray windows to the yellow basket, then shift the yellow basket.",
+    "Grab the toycar with dark gray windows, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Put the compact glossy blue toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar with rounded edges, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Grab the kids' toycar in bright blue, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the bright yellow basket.",
+    "Use one arm to place the hand-sized rolling toycar in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Take the toycar with dark gray windows, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Pick up the small plastic toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the toycar with dark gray windows in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Grab the toycar made of plastic material, drop it in the yellow basket, then move the yellow basket.",
+    "Pick the small plastic toycar, place it in the plastic basket, shift the plastic basket.",
+    "Grab the toycar featuring black and white wheels, set it into the rectangular basket with smooth surface.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use the right arm to pick the plastic toycar with smooth finish, then use the left arm for the medium yellow basket with slots.",
+    "Place the hand-sized rolling toycar into the yellow basket and push the yellow basket slightly away.",
+    "Pick the blue toycar with yellow roof accents and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface.",
+    "Set the compact glossy blue toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Grab the blue toycar with yellow roof accents and drop it in the rectangular basket with smooth surface.",
+    "Use the right arm to grab the kids' toycar in bright blue, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm."
+  ],
+  "unseen": [
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode14.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c9378c7c00306043b1f153cde22735086c2bca
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the miniature teal vehicle toy, drop it in the yellow basket, shift the yellow basket.",
+    "Use the right arm to grab the compact teal toycar, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick the small teal plastic car with windows, put it inside the medium yellow basket with slots.",
+    "Put the play car in teal and white in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Grab the toycar with white roof and teal body, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Grab the smooth teal car and drop it in the yellow basket.",
+    "Take the toycar with black tires, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick up the toycar with glossy finish and set it inside the basket with black handle.",
+    "Pick the compact teal toycar and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the smooth teal car, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the light teal toycar with white roof, place it in the carrying basket with black plastic handle.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Grab the smooth teal car, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Lift the toycar with glossy finish using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Set the miniature teal vehicle toy in the yellow basket, and shift the yellow basket away.",
+    "Use one arm to place the toycar with glossy finish in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Use one arm to place the small car toy in the medium yellow basket with slots.",
+    "Lift the smooth teal car, place it into the plastic basket, move the plastic basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the basket with black handle.",
+    "Move the rounded teal car toy to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Place the toycar with black tires in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the small car toy and drop it in the yellow basket, then move the yellow basket.",
+    "Take the small teal plastic car with windows, put the small teal plastic car with windows into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to grab the small teal plastic car with windows, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the rounded teal car toy, place it in the plastic basket, then move the plastic basket away.",
+    "Put the smooth teal car in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the toycar with black tires, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Place the mini car toy into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the yellow basket, slide the yellow basket lightly.",
+    "Grab the play car in teal and white, set it into the basket with perforated sides.",
+    "Pick up the small car toy, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the toycar with glossy finish with one arm, drop the toycar with glossy finish in the rectangular yellow basket.",
+    "Pick and move the miniature teal vehicle toy, then shift the rectangular basket with smooth surface.",
+    "Grab the mini car toy, drop it in the plastic basket, shift the plastic basket.",
+    "Use the right arm to grab the small teal plastic car with windows, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick the light teal toycar with white roof, put it inside the basket with arched black grip.",
+    "Put the small car toy in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Grab the miniature teal vehicle toy, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the compact teal toycar and drop it in the yellow basket for carrying stuff.",
+    "Take the small teal plastic car with windows, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick up the small teal plastic car with windows and set it inside the bright yellow basket.",
+    "Pick the compact teal toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Pick the smooth teal car, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the small car toy, place it in the plastic basket.",
+    "Pick up the mini car toy, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Grab the toycar with glossy finish, drop it in the plastic basket, then move the plastic basket.",
+    "Lift the play car in teal and white using the right arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the left arm.",
+    "Set the smooth teal car in the plastic basket, and shift the plastic basket away.",
+    "Use one arm to place the light teal toycar with white roof in the basket with black handle, adjust the basket with black handle.",
+    "Use one arm to place the light teal toycar with white roof in the rectangular yellow basket.",
+    "Lift the smooth teal car, place it into the yellow basket, move the yellow basket.",
+    "Use the right arm to pick the smooth teal car, then use the left arm for the basket with perforated sides.",
+    "Move the miniature teal vehicle toy to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Place the toycar with white roof and teal body in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the smooth teal car and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the smooth teal car, put the smooth teal car into the basket with arched black grip, shift the basket with arched black grip.",
+    "Use one arm to grab the smooth teal car, place it in the plastic basket, then move the plastic basket.",
+    "Grab the mini car toy, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Put the rounded teal car toy in the yellow basket and pull the yellow basket away.",
+    "Lift the play car in teal and white, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Place the play car in teal and white into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick the small teal plastic car with windows, drop the small teal plastic car with windows in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Grab the small car toy, set it into the yellow basket.",
+    "Pick up the toycar with white roof and teal body, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Grab the play car in teal and white with one arm, drop the play car in teal and white in the carrying basket with black plastic handle.",
+    "Pick and move the play car in teal and white, then shift the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Use the right arm to grab the compact teal toycar, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the left arm.",
+    "Pick the miniature teal vehicle toy, put it inside the plastic basket.",
+    "Put the play car in teal and white in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the play car in teal and white, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Grab the rounded teal car toy and drop it in the bright yellow basket.",
+    "Take the smooth teal car, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Pick up the play car in teal and white and set it inside the bright yellow basket.",
+    "Pick the rounded teal car toy and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick the miniature teal vehicle toy, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar with white roof and teal body, place it in the basket with black handle.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Grab the miniature teal vehicle toy, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the miniature teal vehicle toy using the right arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the left arm.",
+    "Set the small teal plastic car with windows in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use one arm to place the toycar with glossy finish in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Use one arm to place the smooth teal car in the basket with black handle.",
+    "Lift the play car in teal and white, place it into the yellow basket, move the yellow basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the basket with perforated sides.",
+    "Move the light teal toycar with white roof to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Place the light teal toycar with white roof in the plastic basket, then grab the plastic basket.",
+    "Pick up the small car toy and drop it in the handheld basket, then move the handheld basket.",
+    "Take the toycar with glossy finish, put the toycar with glossy finish into the basket with black handle, shift the basket with black handle.",
+    "Use one arm to grab the light teal toycar with white roof, place it in the handheld basket, then move the handheld basket.",
+    "Grab the smooth teal car, place it in the plastic basket, then move the plastic basket away.",
+    "Put the toycar with black tires in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the light teal toycar with white roof, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Place the small teal plastic car with windows into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Pick the compact teal toycar, drop the compact teal toycar in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Grab the small car toy, set it into the handheld basket.",
+    "Pick up the smooth teal car, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the smooth teal car with one arm, drop the smooth teal car in the medium yellow basket with slots.",
+    "Pick and move the toycar with glossy finish, then shift the basket with arched black grip.",
+    "Grab the smooth teal car, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff."
+  ],
+  "unseen": [
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic teal car with wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode15.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2845a64d881ed0901abad647b6a9f09391fdfd
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth black cards container, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Place the palm-sized box for playing cards into the handheld basket and push the handheld basket slightly away.",
+    "Grab the cardboard playing cards box, drop in the handheld basket, and move the handheld basket.",
+    "Use one arm to place the box with cards inside in the plastic basket, adjust the plastic basket.",
+    "Pick and move the playing cards box with gold text, then shift the basket with perforated sides.",
+    "Use one arm to grab the palm-sized box for playing cards, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the cardboard playing cards box and set it inside the yellow basket.",
+    "Use one arm to place the smooth black cards container in the basket with black handle.",
+    "Grab the palm-sized box for playing cards and drop it in the yellow basket.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the basket with arched black grip.",
+    "Pick up the box with cards inside, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Put the rectangle-shaped cards box in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick the rectangular box for card storage, drop the rectangular box for card storage in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick the playing cards box with gold text, put it inside the basket with arched black grip.",
+    "Pick the rectangle-shaped cards box, place it in the basket with black handle.",
+    "Lift the rectangular box for card storage, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the box with cards inside, set it into the handheld basket.",
+    "Take the box holding playing cards, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the black box with rectangular shape, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the small black box with cards, place it in the plastic basket, then move the plastic basket away.",
+    "Put the playing cards box with gold text in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the yellow basket for carrying stuff.",
+    "Pick the cardboard playing cards box and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the cardboard playing cards box, place it in the basket with black handle, shift the basket with black handle.",
+    "Set the box holding playing cards in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Use the left arm to grab the smooth black cards container, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Place the black box with rectangular shape in the yellow basket, then grab the yellow basket.",
+    "Grab the smooth black cards container, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the compact box for playing cards, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Lift the black playing cards box using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Move the black box with rectangular shape to the yellow basket, then shift the yellow basket.",
+    "Take the smooth black cards container, put the smooth black cards container into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the palm-sized box for playing cards and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the box holding playing cards, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Place the rectangle-shaped cards box into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Grab the box with cards inside, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use one arm to place the rectangular box for card storage in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Pick and move the playing cards box with gold text, then shift the plastic basket.",
+    "Use one arm to grab the box holding playing cards, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the small black box with cards and set it inside the basket with perforated sides.",
+    "Use one arm to place the box holding playing cards in the bright yellow basket.",
+    "Grab the cardboard playing cards box and drop it in the yellow basket for carrying stuff.",
+    "Grab the palm-sized box for playing cards with one arm, drop the palm-sized box for playing cards in the basket with black handle.",
+    "Pick up the playing cards box with gold text, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Put the palm-sized box for playing cards in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick the palm-sized box for playing cards, drop the palm-sized box for playing cards in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Pick the playing cards box with gold text, put it inside the bright yellow basket.",
+    "Pick the rectangle-shaped cards box, place it in the basket with arched black grip.",
+    "Lift the rectangular box for card storage, place it into the bright yellow basket, move the bright yellow basket.",
+    "Grab the black box with rectangular shape, set it into the plastic basket.",
+    "Take the rectangle-shaped cards box, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the box with cards inside, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Put the rectangle-shaped cards box in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the yellow basket.",
+    "Pick the rectangular box for card storage and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick the smooth black cards container, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Set the black box with rectangular shape in the yellow basket, and shift the yellow basket away.",
+    "Use the left arm to grab the box with cards inside, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Place the black box with rectangular shape in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box holding playing cards, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the compact box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Lift the black box with rectangular shape using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Move the compact box for playing cards to the bright yellow basket, then shift the bright yellow basket.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the bright yellow basket, shift the bright yellow basket.",
+    "Pick up the black playing cards box and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the smooth black cards container, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Place the small black box with cards into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Grab the compact box for playing cards, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use one arm to place the smooth black cards container in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Pick and move the palm-sized box for playing cards, then shift the basket with arched black grip.",
+    "Use one arm to grab the box holding playing cards, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the cardboard playing cards box and set it inside the bright yellow basket.",
+    "Use one arm to place the compact box for playing cards in the basket with black handle.",
+    "Grab the playing cards box with gold text and drop it in the rectangular yellow basket.",
+    "Grab the rectangular box for card storage with one arm, drop the rectangular box for card storage in the handheld basket.",
+    "Pick up the rectangular box for card storage, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Put the box with cards inside in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the smooth black cards container, drop the smooth black cards container in the handheld basket, slide the handheld basket lightly.",
+    "Pick the black box with rectangular shape, put it inside the plastic basket.",
+    "Pick the compact box for playing cards, place it in the plastic basket.",
+    "Lift the compact box for playing cards, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the rectangle-shaped cards box, set it into the basket with black handle.",
+    "Take the box holding playing cards, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Grab the black box with rectangular shape, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Put the black playing cards box in the basket with black handle, then move the basket with black handle away slightly.",
+    "Use the left arm to pick the palm-sized box for playing cards, then use the right arm for the rectangular basket with smooth surface.",
+    "Pick the black box with rectangular shape and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick the compact box for playing cards, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Set the box with cards inside in the handheld basket, and shift the handheld basket away.",
+    "Use the left arm to grab the black playing cards box, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the smooth black cards container in the yellow basket, then grab the yellow basket.",
+    "Grab the smooth black cards container, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the box with cards inside, put it in the yellow basket, shift the yellow basket a little.",
+    "Lift the palm-sized box for playing cards using the left arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the right arm.",
+    "Move the black box with rectangular shape to the yellow basket, then shift the yellow basket.",
+    "Take the rectangular box for card storage, put the rectangular box for card storage into the basket with black handle, shift the basket with black handle.",
+    "Pick up the compact box for playing cards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Lift the box with cards inside, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip."
+  ],
+  "unseen": [
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode16.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b87ec3f7cfdbe1d66eb5304838b4c5534a58ee2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the toycar with dark gray windows in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Pick the toycar made of plastic material, put it inside the basket with black handle.",
+    "Move the kids' toycar in bright blue to the handheld basket, then shift the handheld basket.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the toycar featuring black and white wheels and drop it in the plastic basket, then move the plastic basket.",
+    "Lift the toycar made of plastic material, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Pick and move the toycar featuring black and white wheels, then shift the yellow basket for carrying stuff.",
+    "Use the right arm to grab the toycar with black wheels, place it in the basket with perforated sides, and move the basket with perforated sides using the left arm.",
+    "Pick up the hand-sized rolling toycar and set it inside the bright yellow basket.",
+    "Pick the toycar with dark gray windows, drop the toycar with dark gray windows in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the blue toycar with yellow roof accents, drop it in the yellow basket, shift the yellow basket.",
+    "Take the bright blue toycar with roof buttons, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Set the small plastic toycar in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Pick the bright blue toycar with roof buttons and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the bright blue toycar with roof buttons, drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar featuring black and white wheels with one arm, drop the toycar featuring black and white wheels in the rectangular basket with smooth surface.",
+    "Pick the toycar with rounded edges, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the toycar with dark gray windows, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket with black handle.",
+    "Grab the toycar with rounded edges, set it into the bright yellow basket.",
+    "Use one arm to place the toycar with black wheels in the handheld basket, adjust the handheld basket.",
+    "Grab the hand-sized rolling toycar, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Place the bright blue toycar with roof buttons into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Lift the toycar with black wheels, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Put the toycar with black wheels in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Use the right arm to pick the toycar made of plastic material, then use the left arm for the basket with black handle.",
+    "Pick up the compact glossy blue toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Lift the compact glossy blue toycar using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Grab the blue toycar with yellow roof accents and drop it in the bright yellow basket.",
+    "Pick up the toycar made of plastic material, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Place the blue toycar with yellow roof accents in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick the toycar featuring black and white wheels, place it in the basket with perforated sides.",
+    "Take the toycar with dark gray windows, put the toycar with dark gray windows into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Put the hand-sized rolling toycar in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Pick the toycar with dark gray windows, put it inside the rectangular yellow basket.",
+    "Move the blue toycar with yellow roof accents to the plastic basket, then shift the plastic basket.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the hand-sized rolling toycar and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Lift the toycar made of plastic material, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick and move the toycar with dark gray windows, then shift the basket with perforated sides.",
+    "Use the right arm to grab the small plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick up the small plastic toycar and set it inside the basket with black handle.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the handheld basket, slide the handheld basket lightly.",
+    "Grab the toycar with rounded edges, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Take the toycar with dark gray windows, set it in the plastic basket, shift the plastic basket lightly.",
+    "Set the kids' toycar in bright blue in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick the compact glossy blue toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Grab the toycar with dark gray windows, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the toycar with black wheels with one arm, drop the toycar with black wheels in the medium yellow basket with slots.",
+    "Pick the toycar made of plastic material, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the small plastic toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Use one arm to place the plastic toycar with smooth finish in the rectangular basket with smooth surface.",
+    "Grab the toycar with black wheels, set it into the bright yellow basket.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Grab the compact glossy blue toycar, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Place the hand-sized rolling toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Lift the kids' toycar in bright blue, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Put the compact glossy blue toycar in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Use the right arm to pick the blue toycar with yellow roof accents, then use the left arm for the basket with black handle.",
+    "Pick up the compact glossy blue toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Grab the compact glossy blue toycar and drop it in the plastic basket.",
+    "Pick up the compact glossy blue toycar, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Place the plastic toycar with smooth finish in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick the toycar made of plastic material, place it in the plastic basket.",
+    "Take the small plastic toycar, put the small plastic toycar into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the toycar made of plastic material in the yellow basket, then move the yellow basket away slightly.",
+    "Pick the toycar made of plastic material, put it inside the carrying basket with black plastic handle.",
+    "Move the blue toycar with yellow roof accents to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the kids' toycar in bright blue and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the toycar with dark gray windows, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick and move the toycar with black wheels, then shift the rectangular basket with smooth surface.",
+    "Use the right arm to grab the toycar made of plastic material, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick up the hand-sized rolling toycar and set it inside the medium yellow basket with slots.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the blue toycar with yellow roof accents, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Take the bright blue toycar with roof buttons, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Set the plastic toycar with smooth finish in the yellow basket, and shift the yellow basket away.",
+    "Pick the compact glossy blue toycar and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Grab the toycar featuring black and white wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the bright yellow basket.",
+    "Pick the plastic toycar with smooth finish, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the hand-sized rolling toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Use one arm to place the bright blue toycar with roof buttons in the rectangular basket with smooth surface.",
+    "Grab the blue toycar with yellow roof accents, set it into the medium yellow basket with slots.",
+    "Use one arm to place the compact glossy blue toycar in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Grab the toycar featuring black and white wheels, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Place the hand-sized rolling toycar into the handheld basket and push the handheld basket slightly away.",
+    "Lift the plastic toycar with smooth finish, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Put the bright blue toycar with roof buttons in the bright yellow basket and pull the bright yellow basket away.",
+    "Use the right arm to pick the bright blue toycar with roof buttons, then use the left arm for the basket with perforated sides.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket, grab the yellow basket.",
+    "Lift the blue toycar with yellow roof accents using the right arm, drop it in the handheld basket, then push the handheld basket via the left arm.",
+    "Grab the hand-sized rolling toycar and drop it in the yellow basket.",
+    "Pick up the toycar with black wheels, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Place the toycar with black wheels in the plastic basket, then grab the plastic basket.",
+    "Pick the toycar with black wheels, place it in the basket with perforated sides.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the basket with arched black grip, shift the basket with arched black grip.",
+    "Put the kids' toycar in bright blue in the yellow basket, then move the yellow basket away slightly."
+  ],
+  "unseen": [
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode17.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8b79116842a61468a94830b2ff638805dc4959
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the palm-sized playingcards carton in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the blue pack holding playingcards and set it inside the brown basket.",
+    "Use one arm to grab the card box with golden designs, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the palm-sized playingcards carton using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Grab the palm-sized playingcards carton and drop it in the brown basket.",
+    "Grab the blue playingcards box, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Use one arm to place the small playingcards container in the oval-shaped basket with woven body.",
+    "Lift the blue carton for playingcards, place it into the woven basket, move the woven basket.",
+    "Use the right arm to pick the card box with golden designs, then use the left arm for the basket for holding items.",
+    "Pick the playingcards box with white symbols, put it inside the woven basket.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick the blue carton for playingcards, place it in the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the rectangular blue playingcards case, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick the blue pack holding playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick and move the palm-sized playingcards carton, 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.",
+    "Take the card box with golden designs, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick up the card box with golden designs, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Place the palm-sized playingcards carton into the basket for holding items and push the basket for holding items slightly away.",
+    "Lift the playingcards pack with blue top, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Place the rectangular blue playingcards case in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket with handle, slide the basket with handle lightly.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "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.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the oval-shaped basket with woven body.",
+    "Pick up the blue playingcards box, place it in the basket for holding items, grab the basket for holding items.",
+    "Take the box of playingcards, put the box of playingcards into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Put the small playingcards container in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Grab the smooth playingcards holder, set it into the brown basket.",
+    "Use the right arm to grab the small playingcards container, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left 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 up the blue and white playingcards packaging and set it inside the brown basket with woven ridges.",
+    "Use one arm to grab the box of playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the blue playingcards box using the right arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the left arm.",
+    "Grab the palm-sized playingcards carton and drop it in the woven basket.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the playingcards pack with blue top in the light brown oval basket and pull the light brown oval basket away.",
+    "Use one arm to place the smooth playingcards holder in the oval-shaped basket with woven body.",
+    "Lift the blue carton for playingcards, place it into the basket for holding items, move the basket for holding items.",
+    "Use the right arm to pick the smooth playingcards holder, then use the left arm for the basket with handle.",
+    "Pick the blue and white playingcards packaging, put it inside the light brown oval basket.",
+    "Use one arm to place the blue playingcards box in the brown basket, adjust the brown basket.",
+    "Pick the smooth playingcards holder, place it in the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the blue playingcards box, place it in the brown basket, shift the brown basket.",
+    "Grab the palm-sized playingcards carton, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the card box with golden designs and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick and move the blue pack holding playingcards, then shift the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards holder and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the palm-sized playingcards carton, put it in the woven basket, shift the woven basket a little.",
+    "Place the small playingcards container into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Lift the playingcards box with white symbols, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Place the smooth playingcards holder in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the small playingcards container, drop the small playingcards container in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Move the blue pack holding playingcards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton, drop it in the brown basket, then move the brown basket.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket for carrying things.",
+    "Pick up the blue carton for playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Take the small playingcards container, put the small playingcards container into the brown basket, shift the brown basket.",
+    "Put the palm-sized playingcards carton in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the blue playingcards box, set it into the brown basket with woven ridges.",
+    "Use the right arm to grab the blue playingcards box, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "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 and set it inside the basket with loop handle.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket, then move the brown basket.",
+    "Lift the blue playingcards box using the right arm, drop it in the basket with handle, then push the basket with handle via the left arm.",
+    "Grab the rectangular blue playingcards case and drop it in 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.",
+    "Put the rectangular blue playingcards case in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Use one arm to place the palm-sized playingcards carton in the basket made of woven wood.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Use the right arm to pick the blue and white playingcards packaging, then use the left arm for the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, put it inside the basket with handle.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the blue carton for playingcards, place it in the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the playingcards pack with blue top, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the blue playingcards box and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick and move the card box with golden designs, then shift the basket with 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.",
+    "Take the small playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Place the card box with golden designs into the woven basket and push the woven basket slightly away.",
+    "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 palm-sized playingcards carton in the basket with loop handle, then grab the basket with loop handle.",
+    "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.",
+    "Move the box of playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket made of woven wood.",
+    "Pick up the box of playingcards, place it in the basket for holding items, grab the basket for holding items.",
+    "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 blue playingcards box in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the rectangular blue playingcards case, set it into the light brown oval basket.",
+    "Use the right arm to grab the playingcards pack with blue top, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Set the smooth playingcards holder in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away."
+  ],
+  "unseen": [
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "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 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.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards 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.",
+    "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.",
+    "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.",
+    "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.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "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 in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards 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 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 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 case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the 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 basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "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 oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the 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 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.",
+    "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.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, 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.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, 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.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the 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.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "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.",
+    "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 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 in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the 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.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the 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."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode18.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..51aabdc3532b986380a23982ddfaa2a94814f765
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the green toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Place the toycar with black wheels into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Lift the smooth green toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the tiny green toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the toycar with black wheels, place it in the carrying basket with black plastic handle.",
+    "Pick and move the green toycar, then shift the basket with perforated sides.",
+    "Pick up the playful green toycar, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the green car-shaped toycar and set it inside the basket with perforated sides.",
+    "Put the green toycar in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Use one arm to grab the smooth green toycar, place it in the plastic basket, then move the plastic basket.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the rectangular basket with smooth surface.",
+    "Grab the green toycar and drop it in the medium yellow basket with slots.",
+    "Pick the shiny green toycar, drop the shiny green toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Place the green toycar in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the green toycar made from plastic and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the small green toycar, set it into the rectangular basket with smooth surface.",
+    "Pick the green toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the small plastic green toycar, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the tiny green toycar using the right arm, drop it in the bright yellow basket, then push the bright yellow basket via the left arm.",
+    "Take the small green toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the playful green toycar, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Put the tiny green toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Use one arm to place the small green toycar in the yellow basket.",
+    "Set the small green toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick up the tiny green toycar, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the right arm to pick the green toycar made from plastic, then use the left arm for the basket with black handle.",
+    "Move the green car-shaped toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the toycar with black roof and wheels, put it inside the basket with perforated sides.",
+    "Take the playful green toycar, put the playful green toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Grab the green toycar, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the green car-shaped toycar in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick the green car-shaped toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the tiny green toycar, drop it in the handheld basket, then move the handheld basket.",
+    "Use the right arm to grab the shiny green toycar, place it in the plastic basket, and move the plastic basket using the left arm.",
+    "Place the miniature bright green toycar into the yellow basket and push the yellow basket slightly away.",
+    "Lift the tiny green toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Lift the shiny green toycar, place it into the handheld basket, move the handheld basket.",
+    "Pick the green car-shaped toycar, place it in the plastic basket.",
+    "Pick and move the toycar with black roof and wheels, then shift the plastic basket.",
+    "Pick up the green toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick up the green toycar made from plastic and set it inside the basket with arched black grip.",
+    "Put the tiny green toycar in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Use one arm to grab the small green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the green toycar made from plastic with one arm, drop the green toycar made from plastic in the basket with perforated sides.",
+    "Grab the toycar with black roof and wheels and drop it in the bright yellow basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the handheld basket, slide the handheld basket lightly.",
+    "Place the smooth green toycar in the handheld basket, then grab the handheld basket.",
+    "Pick up the smooth green toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the miniature bright green toycar, set it into the rectangular yellow basket.",
+    "Pick the toycar with black roof and wheels and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Grab the shiny green toycar, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the small green toycar using the right arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the left arm.",
+    "Take the playful green toycar, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the toycar with black wheels, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Put the green toycar in the basket with black handle and pull the basket with black handle away.",
+    "Use one arm to place the green toycar made from plastic in the rectangular basket with smooth surface.",
+    "Set the green car-shaped toycar in the yellow basket, and shift the yellow basket away.",
+    "Pick up the shiny green toycar, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Use the right arm to pick the green toycar made from plastic, then use the left arm for the basket with arched black grip.",
+    "Move the miniature bright green toycar to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black roof and wheels, put it inside the basket with black handle.",
+    "Take the small plastic green toycar, put the small plastic green toycar into the basket with black handle, shift the basket with black handle.",
+    "Grab the small green toycar, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the toycar with black wheels in the bright yellow basket, adjust the bright yellow basket.",
+    "Pick the shiny green toycar, place it in the plastic basket, shift the plastic basket.",
+    "Grab the small green toycar, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Use the right arm to grab the small green toycar, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the left arm.",
+    "Place the small green toycar into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Lift the miniature bright green toycar, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Lift the green car-shaped toycar, place it into the basket with black handle, move the basket with black handle.",
+    "Pick the green toycar, place it in the bright yellow basket.",
+    "Pick and move the toycar with black roof and wheels, then shift the bright yellow basket.",
+    "Pick up the smooth green toycar, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick up the toycar with black wheels and set it inside the plastic basket.",
+    "Put the playful green toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Use one arm to grab the toycar with black roof and wheels, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the tiny green toycar with one arm, drop the tiny green toycar in the plastic basket.",
+    "Grab the green toycar made from plastic and drop it in the medium yellow basket with slots.",
+    "Pick the green toycar, drop the green toycar in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Place the shiny green toycar in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick up the shiny green toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the smooth green toycar, set it into the basket with black handle.",
+    "Pick the toycar with black wheels and position it in the handheld basket, move the handheld basket slightly.",
+    "Grab the tiny green toycar, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Lift the small plastic green toycar using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Take the tiny green toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Grab the smooth green toycar, place it in the yellow basket, then move the yellow basket away.",
+    "Put the tiny green toycar in the yellow basket and pull the yellow basket away.",
+    "Use one arm to place the small green toycar in the carrying basket with black plastic handle.",
+    "Set the green car-shaped toycar in the yellow basket, and shift the yellow basket away.",
+    "Pick up the green toycar made from plastic, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the right arm to pick the shiny green toycar, then use the left arm for the carrying basket with black plastic handle.",
+    "Move the green toycar made from plastic to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the toycar with black roof and wheels, put it inside the carrying basket with black plastic handle.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the plastic basket, shift the plastic basket.",
+    "Grab the shiny green toycar, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the toycar with black wheels in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the toycar with black wheels, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the green car-shaped toycar, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the right arm to grab the shiny green toycar, place it in the plastic basket, and move the plastic basket using the left arm."
+  ],
+  "unseen": [
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the bright green toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the bright green toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with rounded edges to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow basket with open slots.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode19.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8335611da194b28011a9e1ff900183862425a7a
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic toycar with one arm, drop the plastic toycar in the basket with arched black grip.",
+    "Grab the toycar with black and orange wheels, set it into the basket with perforated sides.",
+    "Grab the small toycar and drop it in the basket with black handle.",
+    "Pick the palm-sized plastic toycar, put it inside the basket with arched black grip.",
+    "Pick the glossy blue toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick and move the toycar with smiling face design, then shift the medium yellow basket with slots.",
+    "Lift the palm-sized plastic toycar, place it into the plastic basket, move the plastic basket.",
+    "Put the palm-sized plastic toycar in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the small toycar using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Grab the blue toycar with white windows, drop it in the basket with black handle, then move the basket with black handle.",
+    "Take the plastic toycar, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Use the right arm to grab the toycar with black and orange wheels, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick up the toycar with rounded edges, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Pick up the plastic toycar, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the lightweight toycar, drop in the plastic basket, and move the plastic basket.",
+    "Use the right arm to pick the blue toycar with white windows, then use the left arm for the rectangular basket with smooth surface.",
+    "Take the plastic toycar, put the plastic toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Place the toycar for kids in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Use one arm to place the glossy blue toycar in the basket with black handle, adjust the basket with black handle.",
+    "Place the lightweight toycar into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Lift the toycar with smiling face design, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Set the plastic toycar in the plastic basket, and shift the plastic basket away.",
+    "Put the toycar with rounded edges in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Use one arm to place the palm-sized plastic toycar in the plastic basket.",
+    "Grab the toycar for kids, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the toycar with smiling face design and set it inside the medium yellow basket with slots.",
+    "Pick the blue toycar with white windows, place it in the basket with arched black grip.",
+    "Grab the glossy blue toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the glossy blue toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the blue toycar with white windows and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Use one arm to grab the small blue car-shaped toycar, place it in the yellow basket, then move the yellow basket.",
+    "Move the glossy blue toycar to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the bright yellow basket.",
+    "Grab the toycar with smiling face design, set it into the yellow basket.",
+    "Grab the blue toycar with white windows and drop it in the rectangular yellow basket.",
+    "Pick the small toycar, put it inside the yellow basket for carrying stuff.",
+    "Pick the small blue car-shaped toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick and move the small blue car-shaped toycar, then shift the basket with arched black grip.",
+    "Lift the glossy blue toycar, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Put the lightweight toycar in the yellow basket and pull the yellow basket away.",
+    "Lift the toycar with black and orange wheels using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Grab the plastic toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Take the toycar with smiling face design, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Use the right arm to grab the toycar with rounded edges, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick up the toycar with rounded edges, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the toycar with smiling face design, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the toycar for kids, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use the right arm to pick the palm-sized plastic toycar, then use the left arm for the basket with perforated sides.",
+    "Take the plastic toycar, put the plastic toycar into the plastic basket, shift the plastic basket.",
+    "Place the plastic toycar in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to place the toycar for kids in the yellow basket, adjust the yellow basket.",
+    "Place the blue toycar with white windows into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Lift the toycar for kids, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Set the toycar for kids in the handheld basket, and shift the handheld basket away.",
+    "Put the blue toycar with white windows in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Use one arm to place the toycar for kids in the rectangular yellow basket.",
+    "Grab the glossy blue toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the palm-sized plastic toycar and set it inside the rectangular yellow basket.",
+    "Pick the plastic toycar, place it in the handheld basket.",
+    "Grab the toycar with black and orange wheels, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick up the toycar for kids and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the blue toycar with white windows and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Use one arm to grab the blue toycar with white windows, place it in the plastic basket, then move the plastic basket.",
+    "Move the small blue car-shaped toycar to the basket with black handle, then shift the basket with black handle.",
+    "Grab the toycar with rounded edges with one arm, drop the toycar with rounded edges in the basket with black handle.",
+    "Grab the toycar for kids, set it into the handheld basket.",
+    "Grab the toycar with rounded edges and drop it in the bright yellow basket.",
+    "Pick the plastic toycar, put it inside the basket with perforated sides.",
+    "Pick the glossy blue toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick and move the bright blue toycar, then shift the handheld basket.",
+    "Lift the bright blue toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Put the toycar with smiling face design in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the palm-sized plastic toycar using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Grab the toycar for kids, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the lightweight toycar, set it in the yellow basket, shift the yellow basket lightly.",
+    "Use the right arm to grab the toycar with black and orange wheels, place it in the handheld basket, and move the handheld basket using the left arm.",
+    "Pick up the blue toycar with white windows, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick up the toycar for kids, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the lightweight toycar, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use the right arm to pick the glossy blue toycar, then use the left arm for the plastic basket.",
+    "Take the toycar with black and orange wheels, put the toycar with black and orange wheels into the yellow basket, shift the yellow basket.",
+    "Place the bright blue toycar in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar with rounded edges in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Place the bright blue toycar into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Pick the toycar for kids, drop the toycar for kids in the handheld basket, slide the handheld basket lightly.",
+    "Lift the toycar with black and orange wheels, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Set the small toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Put the toycar with smiling face design in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Use one arm to place the plastic toycar in the bright yellow basket.",
+    "Grab the lightweight toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Pick up the glossy blue toycar and set it inside the yellow basket for carrying stuff.",
+    "Pick the toycar with smiling face design, place it in the bright yellow basket.",
+    "Grab the toycar with rounded edges, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick up the glossy blue toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the lightweight toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Use one arm to grab the blue toycar with white windows, place it in the yellow basket, then move the yellow basket.",
+    "Move the small blue car-shaped toycar to the handheld basket, then shift the handheld basket.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the rectangular yellow basket."
+  ],
+  "unseen": [
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode2.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..15764f6972c8a062730fdab1a72f898dd2ac76bd
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the green toycar made from plastic to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use one arm to place the small plastic green toycar in the basket for carrying things.",
+    "Grab the tiny green toycar, place it in the woven basket, then move the woven basket away.",
+    "Pick the small plastic green toycar, place it in the light brown oval basket.",
+    "Pick the playful green toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the playful green toycar in the basket with loop handle, then grab the basket with loop handle.",
+    "Use the left arm to grab the playful green toycar, place it in the brown basket, and move the brown basket using the right arm.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the wooden basket with curved handle.",
+    "Lift the green toycar made from plastic, place it into the basket for holding items, move the basket for holding items.",
+    "Place the playful green toycar into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Take the small green toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the miniature bright green toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the green toycar and drop it in the basket with loop handle.",
+    "Pick and move the smooth green toycar, then shift the brown basket with woven ridges.",
+    "Lift the small plastic green toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick up the playful green toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use the left arm to pick the small green toycar, then use the right arm for the woven basket.",
+    "Grab the playful green toycar, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the playful green toycar, place it in the woven basket, grab the woven basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the brown basket, slide the brown basket lightly.",
+    "Grab the shiny green toycar, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the shiny green toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to grab the miniature bright green toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the toycar with black wheels and set it inside the light brown oval basket.",
+    "Lift the miniature bright green toycar 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 one arm to place the small plastic green toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the green toycar made from plastic, put it inside the smooth ribbed light brown basket.",
+    "Put the small green toycar in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Put the playful green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the small green toycar, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the small plastic green toycar, set it into the light brown oval basket.",
+    "Set the playful green toycar in the woven basket, and shift the woven basket away.",
+    "Move the green car-shaped toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use one arm to place the small plastic green toycar in the brown basket with woven ridges.",
+    "Grab the green car-shaped toycar, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick the playful green toycar, place it in the basket for holding items.",
+    "Pick the green car-shaped toycar and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Place the small green toycar in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Use the left arm to grab the green car-shaped toycar, 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 toycar with black wheels with one arm, drop the toycar with black wheels in the basket for carrying things.",
+    "Lift the miniature bright green toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Place the small plastic green toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Take the smooth green toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the miniature bright green toycar and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the smooth green toycar and drop it in the basket made of woven wood.",
+    "Pick and move the toycar with black roof and wheels, then shift the basket for carrying things.",
+    "Lift the small green toycar, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick up the miniature bright green toycar, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Use the left arm to pick the playful green toycar, then use the right arm for the woven basket.",
+    "Grab the miniature bright green toycar, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick up the small green toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the small plastic green toycar, drop the small plastic green toycar in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the smooth green toycar, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick the miniature bright green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the toycar with black roof and wheels, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the green toycar and set it inside the basket made of woven wood.",
+    "Lift the green toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use one arm to place the smooth green toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the green toycar made from plastic, put it inside the light brown oval basket.",
+    "Put the miniature bright green toycar in the basket for holding items, then move the basket for holding items away slightly.",
+    "Put the green car-shaped toycar in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the green toycar, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Take the tiny green toycar, put the tiny green toycar into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the toycar with black wheels, set it into the brown basket with woven ridges.",
+    "Set the green toycar made from plastic in the basket with handle, and shift the basket with handle away.",
+    "Move the smooth green toycar to the basket with handle, then shift the basket with handle.",
+    "Use one arm to place the toycar with black wheels in the wooden basket with curved handle.",
+    "Grab the tiny green toycar, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick the toycar with black roof and wheels, place it in the basket with handle.",
+    "Pick the smooth green toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Place the green toycar made from plastic in the brown basket, then grab the brown basket.",
+    "Use the left arm to grab the toycar with black wheels, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the green toycar with one arm, drop the green toycar in the basket for holding items.",
+    "Lift the tiny green toycar, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Place the green toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Take the smooth green toycar, set it in the basket with handle, shift the basket with handle lightly.",
+    "Pick up the toycar with black roof and wheels and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the playful green toycar and drop it in the woven basket.",
+    "Pick and move the green toycar made from plastic, then shift the basket made of woven wood.",
+    "Lift the toycar with black roof and wheels, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the small plastic green toycar, put it in the woven basket, shift the woven basket a little.",
+    "Use the left arm to pick the shiny green toycar, then use the right arm for the basket for carrying things.",
+    "Grab the green car-shaped toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick up the toycar with black wheels, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic, drop the green toycar made from plastic in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the small green toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the shiny green toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to grab the small plastic green toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the green toycar made from plastic and set it inside the woven basket.",
+    "Lift the toycar with black wheels 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 place the small green toycar in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick the tiny green toycar, put it inside the wooden basket with curved handle.",
+    "Put the small plastic green toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the toycar with black roof and wheels, drop it in the woven basket, shift the woven basket.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the tiny green toycar, set it into the basket with loop handle.",
+    "Set the smooth green toycar in the basket for carrying things, and shift the basket for carrying things away.",
+    "Move the tiny green toycar to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the plastic toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Pick up the plastic toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode20.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf92e9680565dd439c8f7472cb87fdb4871c32ce
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the toycar with glossy finish using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Pick and move the toycar with glossy finish, then shift the basket with black handle.",
+    "Pick up the smooth teal car, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the mini car toy, drop the mini car toy in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the toycar with glossy finish, put the toycar with glossy finish into the plastic basket, shift the plastic basket.",
+    "Set the small teal plastic car with windows in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick up the smooth teal car, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular yellow basket.",
+    "Place the miniature teal vehicle toy into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Place the toycar with white roof and teal body in the handheld basket, then grab the handheld basket.",
+    "Pick the miniature teal vehicle toy, put it inside the bright yellow basket.",
+    "Grab the mini car toy, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the mini car toy in the plastic basket, adjust the plastic basket.",
+    "Put the toycar with glossy finish in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the light teal toycar with white roof, set it into the rectangular yellow basket.",
+    "Pick up the compact teal toycar and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the compact teal toycar, place it in the basket with perforated sides.",
+    "Lift the light teal toycar with white roof, place it into the handheld basket, move the handheld basket.",
+    "Put the play car in teal and white in the handheld basket and pull the handheld basket away.",
+    "Move the light teal toycar with white roof to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Grab the mini car toy, drop it in the yellow basket, then move the yellow basket.",
+    "Use the left arm to grab the light teal toycar with white roof, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Pick up the small teal plastic car with windows and set it inside the plastic basket.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the rectangular basket with smooth surface.",
+    "Use one arm to grab the smooth teal car, place it in the handheld basket, then move the handheld basket.",
+    "Use one arm to place the small teal plastic car with windows in the yellow basket for carrying stuff.",
+    "Take the toycar with white roof and teal body, set it in the handheld basket, shift the handheld basket lightly.",
+    "Lift the small teal plastic car with windows, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Pick the light teal toycar with white roof and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the play car in teal and white, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body and drop it in the bright yellow basket.",
+    "Pick the mini car toy, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the rounded teal car toy, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Lift the compact teal toycar using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Pick and move the small teal plastic car with windows, then shift the yellow basket for carrying stuff.",
+    "Pick up the smooth teal car, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Pick the rounded teal car toy, drop the rounded teal car toy in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the compact teal toycar, put the compact teal toycar into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Set the rounded teal car toy in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick up the small car toy, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the compact teal toycar with one arm, drop the compact teal toycar in the basket with arched black grip.",
+    "Place the light teal toycar with white roof into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Place the miniature teal vehicle toy in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick the toycar with black tires, put it inside the yellow basket.",
+    "Grab the toycar with white roof and teal body, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Use one arm to place the compact teal toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Put the miniature teal vehicle toy in the handheld basket, then move the handheld basket away slightly.",
+    "Grab the toycar with glossy finish, set it into the carrying basket with black plastic handle.",
+    "Pick up the light teal toycar with white roof and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the miniature teal vehicle toy, place it in the basket with perforated sides.",
+    "Lift the rounded teal car toy, place it into the yellow basket for carrying stuff, move the yellow basket for carrying stuff.",
+    "Put the toycar with white roof and teal body in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Move the compact teal toycar to the handheld basket, then shift the handheld basket.",
+    "Grab the small teal plastic car with windows, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to grab the small car toy, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Pick up the rounded teal car toy and set it inside the basket with arched black grip.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the basket with arched black grip.",
+    "Use one arm to grab the smooth teal car, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use one arm to place the smooth teal car in the rectangular basket with smooth surface.",
+    "Take the toycar with white roof and teal body, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Lift the play car in teal and white, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Pick the compact teal toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Grab the light teal toycar with white roof, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Grab the smooth teal car and drop it in the medium yellow basket with slots.",
+    "Pick the small teal plastic car with windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the mini car toy, place it in the basket with black handle, then move the basket with black handle away.",
+    "Lift the play car in teal and white using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Pick and move the small teal plastic car with windows, then shift the rectangular basket with smooth surface.",
+    "Pick up the smooth teal car, place it in the yellow basket, grab the yellow basket.",
+    "Pick the toycar with glossy finish, drop the toycar with glossy finish in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the mini car toy, put the mini car toy into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Set the light teal toycar with white roof in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick up the compact teal toycar, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the rounded teal car toy with one arm, drop the rounded teal car toy in the medium yellow basket with slots.",
+    "Place the play car in teal and white into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Place the toycar with glossy finish in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick the miniature teal vehicle toy, put it inside the rectangular yellow basket.",
+    "Grab the toycar with black tires, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to place the small car toy in the basket with black handle, adjust the basket with black handle.",
+    "Put the toycar with white roof and teal body in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the mini car toy, set it into the medium yellow basket with slots.",
+    "Pick up the mini car toy and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the light teal toycar with white roof, place it in the rectangular yellow basket.",
+    "Lift the toycar with black tires, place it into the yellow basket, move the yellow basket.",
+    "Put the smooth teal car in the handheld basket and pull the handheld basket away.",
+    "Move the small car toy to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle.",
+    "Grab the toycar with glossy finish, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to grab the mini car toy, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Pick up the play car in teal and white and set it inside the handheld basket.",
+    "Use the left arm to pick the play car in teal and white, then use the right arm for the plastic basket.",
+    "Use one arm to grab the play car in teal and white, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use one arm to place the compact teal toycar in the medium yellow basket with slots.",
+    "Take the smooth teal car, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Lift the small teal plastic car with windows, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the miniature teal vehicle toy and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the miniature teal vehicle toy, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the toycar with white roof and teal body and drop it in the bright yellow basket.",
+    "Pick the toycar with black tires, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Grab the smooth teal car, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Lift the compact teal toycar using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm."
+  ],
+  "unseen": [
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode21.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc2acda7af67d11a64c2edab25592068d0df801
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the box with cards inside in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the rectangular box for card storage, set it into the carrying basket with black plastic handle.",
+    "Move the small black box with cards to the plastic basket, then shift the plastic basket.",
+    "Place the small black box with cards in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Pick up the rectangular box for card storage and set it inside the basket with perforated sides.",
+    "Pick the black box with rectangular shape and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the small black box with cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Take the black playing cards box, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Use the left arm to pick the box with cards inside, then use the right arm for the basket with arched black grip.",
+    "Grab the box with cards inside, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Grab the cardboard playing cards box, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Lift the black box with rectangular shape, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the compact box for playing cards with one arm, drop the compact box for playing cards in the medium yellow basket with slots.",
+    "Use one arm to place the black box with rectangular shape in the plastic basket, adjust the plastic basket.",
+    "Pick up the playing cards box with gold text, place it in the yellow basket, grab the yellow basket.",
+    "Pick the box holding playing cards, put it inside the medium yellow basket with slots.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the handheld basket, shift the handheld basket.",
+    "Use one arm to place the smooth black cards container in the bright yellow basket.",
+    "Grab the rectangle-shaped cards box, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the rectangular box for card storage using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Lift the box holding playing cards, place it into the handheld basket, move the handheld basket.",
+    "Place the smooth black cards container into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the palm-sized box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Pick the compact box for playing cards, place it in the basket with arched black grip.",
+    "Put the box holding playing cards in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Set the compact box for playing cards in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the box holding playing cards, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Use one arm to grab the black playing cards box, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the playing cards box with gold text and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the rectangular box for card storage, drop the rectangular box for card storage in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the black box with rectangular shape and drop it in the plastic basket.",
+    "Use the left arm to grab the black box with rectangular shape, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Pick and move the palm-sized box for playing cards, then shift the yellow basket for carrying stuff.",
+    "Put the smooth black cards container in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the box holding playing cards, set it into the bright yellow basket.",
+    "Move the playing cards box with gold text to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Place the playing cards box with gold text in the plastic basket, then grab the plastic basket.",
+    "Pick up the compact box for playing cards and set it inside the handheld basket.",
+    "Pick the black box with rectangular shape and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick the compact box for playing cards, place it in the yellow basket, shift the yellow basket.",
+    "Take the palm-sized box for playing cards, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the handheld basket.",
+    "Grab the compact box for playing cards, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the cardboard playing cards box, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Lift the smooth black cards container, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the basket with perforated sides.",
+    "Use one arm to place the compact box for playing cards in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick up the black box with rectangular shape, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the box holding playing cards, put it inside the medium yellow basket with slots.",
+    "Take the box holding playing cards, put the box holding playing cards into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to place the smooth black cards container in the basket with arched black grip.",
+    "Grab the cardboard playing cards box, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Lift the cardboard playing cards box using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Lift the palm-sized box for playing cards, place it into the bright yellow basket, move the bright yellow basket.",
+    "Place the small black box with cards into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick up the palm-sized box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Pick the palm-sized box for playing cards, place it in the basket with black handle.",
+    "Put the small black box with cards in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Set the black playing cards box in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Grab the box holding playing cards, place it in the handheld basket, then move the handheld basket away.",
+    "Use one arm to grab the rectangle-shaped cards box, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the palm-sized box for playing cards and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Grab the small black box with cards and drop it in the basket with arched black grip.",
+    "Use the left arm to grab the smooth black cards container, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Pick and move the cardboard playing cards box, then shift the medium yellow basket with slots.",
+    "Put the box holding playing cards in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the rectangular box for card storage, set it into the plastic basket.",
+    "Move the playing cards box with gold text to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle.",
+    "Place the playing cards box with gold text in the plastic basket, then grab the plastic basket.",
+    "Pick up the palm-sized box for playing cards and set it inside the handheld basket.",
+    "Pick the compact box for playing cards and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the compact box for playing cards, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Take the box holding playing cards, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Use the left arm to pick the small black box with cards, then use the right arm for the handheld basket.",
+    "Grab the small black box with cards, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the palm-sized box for playing cards, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the smooth black cards container, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the basket with perforated sides.",
+    "Use one arm to place the cardboard playing cards box in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Pick up the small black box with cards, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Pick the small black box with cards, put it inside the carrying basket with black plastic handle.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Use one arm to place the black box with rectangular shape in the basket with black handle.",
+    "Grab the cardboard playing cards box, drop in the yellow basket, and move the yellow basket.",
+    "Lift the black box with rectangular shape using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Lift the smooth black cards container, place it into the plastic basket, move the plastic basket.",
+    "Place the box with cards inside into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the smooth black cards container, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick the black box with rectangular shape, place it in the basket with perforated sides.",
+    "Put the rectangular box for card storage in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Set the cardboard playing cards box in the handheld basket, and shift the handheld basket away.",
+    "Grab the palm-sized box for playing cards, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Use one arm to grab the rectangular box for card storage, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the box holding playing cards and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the smooth black cards container, drop the smooth black cards container in the plastic basket, slide the plastic basket lightly.",
+    "Grab the playing cards box with gold text and drop it in the yellow basket.",
+    "Use the left arm to grab the black box with rectangular shape, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Pick and move the compact box for playing cards, then shift the handheld basket.",
+    "Put the rectangular box for card storage in the handheld basket, then move the handheld basket away slightly."
+  ],
+  "unseen": [
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the black box with smooth surface to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the yellow basket with open slots and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode22.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..985fa942605fe06b241115aec0847ff1f70edca7
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to grab the blue and gray toycar, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Take the toycar with smooth texture, put the toycar with smooth texture into the woven basket, shift the woven basket.",
+    "Pick the toycar with shiny plastic finish and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick up the small plastic toycar and set it inside the smooth ribbed light brown basket.",
+    "Grab the bright sleek toycar, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue toycar, set it into the light brown oval basket.",
+    "Put the toycar with black tires in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Set the blue top toycar in the brown basket, and shift the brown basket away.",
+    "Place the small plastic toycar into the brown basket and push the brown basket slightly away.",
+    "Use the left arm to grab the blue and gray toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Lift the toycar with shiny plastic finish, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Lift the toycar with shiny wheels using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the toycar with shiny wheels, then shift the basket made of woven wood.",
+    "Pick the blue toycar, place it in the light brown oval basket.",
+    "Pick the bright sleek toycar, drop the bright sleek toycar in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the light brown oval basket.",
+    "Grab the small plastic toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the blue top toycar, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the toycar with shiny wheels and drop it in the basket for holding items.",
+    "Pick the toycar for kids play, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue top toycar in the basket with handle and pull the basket with handle away.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the basket made of woven wood.",
+    "Lift the toycar with black tires, place it into the woven basket, move the woven basket.",
+    "Pick up the blue toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Place the toycar with black tires in the woven basket, then grab the woven basket.",
+    "Pick up the blue toycar, place it in the basket with handle, grab the basket with handle.",
+    "Use one arm to place the blue and gray toycar in the basket for holding items.",
+    "Pick the toycar with smooth texture, put it inside the woven basket.",
+    "Move the bright sleek toycar to the basket for holding items, then shift the basket for holding items.",
+    "Grab the small plastic toycar, place it in the woven basket, then move the woven basket away.",
+    "Use one arm to place the toycar with shiny wheels in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the toycar with smooth texture and drop it in the basket for holding items, then move the basket for holding items.",
+    "Take the toycar with shiny plastic finish, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Use one arm to grab the palm-sized blue toycar, place it in the basket with handle, then move the basket with handle.",
+    "Take the toycar for kids play, put the toycar for kids play into the woven basket, shift the woven basket.",
+    "Pick the blue toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the toycar with black tires and set it inside the brown basket with woven ridges.",
+    "Grab the bright sleek toycar, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the toycar with shiny plastic finish, set it into the brown basket with woven ridges.",
+    "Put the toycar for kids play in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Set the toycar for kids play in the woven basket, and shift the woven basket away.",
+    "Place the toycar with black tires 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 top toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the blue and gray toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the bright sleek toycar using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick and move the small plastic toycar, then shift the basket for carrying things.",
+    "Pick the bright sleek toycar, place it in the wooden basket with curved handle.",
+    "Pick the blue and gray toycar, drop the blue and gray toycar in the woven basket, slide the woven basket lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the brown basket.",
+    "Grab the blue and gray toycar, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the blue and gray toycar, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Grab the bright sleek toycar and drop it in the basket with loop handle.",
+    "Pick the toycar with transparent windshield, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the toycar with smooth texture in the brown basket and pull the brown basket away.",
+    "Use the left arm to pick the toycar for kids play, then use the right arm for the basket with handle.",
+    "Lift the toycar with shiny plastic finish, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick up the toycar with shiny plastic finish, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Place the toycar with black tires in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the bright sleek toycar, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Use one arm to place the blue and gray toycar in the light brown oval basket.",
+    "Pick the toycar for kids play, put it inside the light brown oval basket.",
+    "Move the small plastic toycar to the woven basket, then shift the woven basket.",
+    "Grab the toycar with smooth texture, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Use one arm to place the palm-sized blue toycar in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the toycar with shiny wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the toycar with shiny wheels, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use one arm to grab the blue toycar, place it in the brown basket, then move the brown basket.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Pick the toycar with shiny plastic finish and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the toycar with shiny wheels and set it inside the woven basket.",
+    "Grab the toycar with transparent windshield, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the blue toycar, set it into the brown basket with woven ridges.",
+    "Put the toycar with black tires in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Set the blue toycar in the basket with handle, and shift the basket with handle away.",
+    "Place the toycar with black tires into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Use the left arm to grab the toycar with smooth texture, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the toycar with black tires, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the bright sleek toycar, then shift the basket made of woven wood.",
+    "Pick the toycar with black tires, place it in the brown basket with woven ridges.",
+    "Pick the blue top toycar, drop the blue top toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Grab the toycar with black tires with one arm, drop the toycar with black tires in the basket with handle.",
+    "Grab the blue top toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the toycar with black tires, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the blue top toycar and drop it in the basket for carrying things.",
+    "Pick the bright sleek toycar, place it in the brown basket, shift the brown basket.",
+    "Put the blue and gray toycar in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the brown basket.",
+    "Lift the blue toycar, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the toycar with transparent windshield, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Place the blue toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick up the toycar with smooth texture, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Use one arm to place the blue top toycar in the basket made of woven wood.",
+    "Pick the palm-sized blue toycar, put it inside the light brown oval basket.",
+    "Move the toycar with shiny wheels to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the toycar with smooth texture, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Use one arm to place the toycar with shiny wheels in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the toycar with smooth texture and drop it in the woven basket, then move the woven basket.",
+    "Take the blue and gray toycar, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Use one arm to grab the toycar with shiny plastic finish, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode23.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..773f3012cff6caceafa434a35d0f2e45d72f602c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the toycar with black tires, drop it in the plastic basket, then move the plastic basket.",
+    "Pick up the toycar with black tires, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the mini car toy, drop in the handheld basket, and move the handheld basket.",
+    "Use one arm to place the miniature teal vehicle toy in the basket with arched black grip.",
+    "Use one arm to grab the small car toy, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the toycar with glossy finish, place it in the handheld basket, then move the handheld basket away.",
+    "Use the left arm to pick the small teal plastic car with windows, then use the right arm for the yellow basket.",
+    "Lift the play car in teal and white using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Put the play car in teal and white in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the mini car toy and drop it in the basket with arched black grip.",
+    "Pick the toycar with glossy finish, place it in the rectangular basket with smooth surface.",
+    "Lift the light teal toycar with white roof, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick and move the compact teal toycar, then shift the rectangular basket with smooth surface.",
+    "Pick the small teal plastic car with windows, place it in the basket with black handle, shift the basket with black handle.",
+    "Pick up the mini car toy, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Grab the miniature teal vehicle toy, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick the smooth teal car, drop the smooth teal car in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Use the left arm to grab the compact teal toycar, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the rounded teal car toy into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the compact teal toycar and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Put the compact teal toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Take the small car toy, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick the play car in teal and white and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Move the small teal plastic car with windows to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Pick the mini car toy, put it inside the yellow basket.",
+    "Lift the small car toy, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Take the miniature teal vehicle toy, put the miniature teal vehicle toy into the bright yellow basket, shift the bright yellow basket.",
+    "Use one arm to place the mini car toy in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick up the mini car toy and set it inside the yellow basket.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the yellow basket.",
+    "Grab the play car in teal and white, set it into the medium yellow basket with slots.",
+    "Place the toycar with white roof and teal body in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Set the rounded teal car toy in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Grab the toycar with black tires, drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the smooth teal car, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Grab the rounded teal car toy, drop in the yellow basket, and move the yellow basket.",
+    "Use one arm to place the rounded teal car toy in the bright yellow basket.",
+    "Use one arm to grab the mini car toy, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the play car in teal and white, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the bright yellow basket.",
+    "Lift the miniature teal vehicle toy using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Put the mini car toy in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Grab the light teal toycar with white roof and drop it in the medium yellow basket with slots.",
+    "Pick the toycar with glossy finish, place it in the basket with perforated sides.",
+    "Lift the toycar with glossy finish, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick and move the play car in teal and white, then shift the basket with perforated sides.",
+    "Pick the toycar with white roof and teal body, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the small teal plastic car with windows, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Grab the toycar with white roof and teal body, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the plastic basket, slide the plastic basket lightly.",
+    "Use the left arm to grab the small car toy, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Place the miniature teal vehicle toy into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick up the small teal plastic car with windows and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Put the rounded teal car toy in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Take the smooth teal car, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick the toycar with black tires and position it in the plastic basket, move the plastic basket slightly.",
+    "Move the compact teal toycar to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick the smooth teal car, put it inside the basket with perforated sides.",
+    "Lift the miniature teal vehicle toy, place it into the yellow basket, move the yellow basket.",
+    "Take the compact teal toycar, put the compact teal toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to place the compact teal toycar in the plastic basket, adjust the plastic basket.",
+    "Pick up the small car toy and set it inside the plastic basket.",
+    "Grab the smooth teal car with one arm, drop the smooth teal car in the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, set it into the plastic basket.",
+    "Place the toycar with black tires in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Set the smooth teal car in the yellow basket, and shift the yellow basket away.",
+    "Grab the play car in teal and white, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick up the toycar with glossy finish, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Grab the rounded teal car toy, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use one arm to place the toycar with black tires in the yellow basket for carrying stuff.",
+    "Use one arm to grab the smooth teal car, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the play car in teal and white, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use the left arm to pick the compact teal toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Lift the toycar with glossy finish using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Put the mini car toy in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Grab the miniature teal vehicle toy and drop it in the basket with perforated sides.",
+    "Pick the toycar with glossy finish, place it in the rectangular yellow basket.",
+    "Lift the small car toy, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick and move the mini car toy, then shift the carrying basket with black plastic handle.",
+    "Pick the play car in teal and white, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the miniature teal vehicle toy, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Grab the miniature teal vehicle toy, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the mini car toy, drop the mini car toy in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Use the left arm to grab the miniature teal vehicle toy, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the miniature teal vehicle toy into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the mini car toy and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Put the toycar with white roof and teal body in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Take the toycar with white roof and teal body, set it in the handheld basket, shift the handheld basket lightly.",
+    "Pick the play car in teal and white and position it in the yellow basket, move the yellow basket slightly.",
+    "Move the miniature teal vehicle toy to the handheld basket, then shift the handheld basket.",
+    "Pick the mini car toy, put it inside the handheld basket.",
+    "Lift the small car toy, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Take the rounded teal car toy, put the rounded teal car toy into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to place the toycar with white roof and teal body in the yellow basket, adjust the yellow basket.",
+    "Pick up the toycar with black tires and set it inside the plastic basket.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body, set it into the carrying basket with black plastic handle.",
+    "Place the smooth teal car in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Set the smooth teal car in the yellow basket, and shift the yellow basket away.",
+    "Grab the toycar with glossy finish, drop it in the basket with arched black grip, then move the basket with arched black grip."
+  ],
+  "unseen": [
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode24.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..3253e5aab99ac3f60131c29dd02e57f2ba65a782
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the bright blue toycar with roof buttons in the basket with arched black grip.",
+    "Place the hand-sized rolling toycar into the plastic basket and push the plastic basket slightly away.",
+    "Set the toycar with dark gray windows in the handheld basket, and shift the handheld basket away.",
+    "Grab the toycar with rounded edges and drop it in the handheld basket.",
+    "Pick and move the small plastic toycar, then shift the yellow basket for carrying stuff.",
+    "Pick up the toycar made of plastic material and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use the left arm to pick the small plastic toycar, then use the right arm for the carrying basket with black plastic handle.",
+    "Place the bright blue toycar with roof buttons in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Lift the small plastic toycar, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Grab the toycar featuring black and white wheels, drop in the handheld basket, and move the handheld basket.",
+    "Lift the blue toycar with yellow roof accents, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Lift the toycar featuring black and white wheels using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Use one arm to grab the toycar with black wheels, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the hand-sized rolling toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Grab the compact glossy blue toycar with one arm, drop the compact glossy blue toycar in the handheld basket.",
+    "Use the left arm to grab the compact glossy blue toycar, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Put the toycar with dark gray windows in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Grab the kids' toycar in bright blue, set it into the handheld basket.",
+    "Pick the toycar with black wheels, place it in the handheld basket.",
+    "Move the bright blue toycar with roof buttons to the bright yellow basket, then shift the bright yellow basket.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Put the blue toycar with yellow roof accents in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Use one arm to place the bright blue toycar with roof buttons in the basket with black handle, adjust the basket with black handle.",
+    "Grab the small plastic toycar, drop it in the yellow basket, shift the yellow basket.",
+    "Pick up the toycar with black wheels, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the toycar with black wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the bright blue toycar with roof buttons and set it inside the carrying basket with black plastic handle.",
+    "Grab the compact glossy blue toycar, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Pick the toycar with dark gray windows, put it inside the bright yellow basket.",
+    "Pick up the plastic toycar with smooth finish, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the bright blue toycar with roof buttons and position it in the handheld basket, move the handheld basket slightly.",
+    "Take the kids' toycar in bright blue, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Use one arm to place the compact glossy blue toycar in the medium yellow basket with slots.",
+    "Place the blue toycar with yellow roof accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Set the toycar featuring black and white wheels in the basket with black handle, and shift the basket with black handle away.",
+    "Grab the toycar with dark gray windows and drop it in the medium yellow basket with slots.",
+    "Pick and move the toycar with black wheels, then shift the yellow basket for carrying stuff.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Use the left arm to pick the toycar made of plastic material, then use the right arm for the rectangular basket with smooth surface.",
+    "Place the bright blue toycar with roof buttons in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Lift the toycar made of plastic material, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Grab the plastic toycar with smooth finish, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Lift the small plastic toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the toycar made of plastic material using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the plastic basket, then move the plastic basket.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Take the small plastic toycar, put the small plastic toycar into the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the bright yellow basket.",
+    "Use the left arm to grab the blue toycar with yellow roof accents, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Put the toycar made of plastic material in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the plastic toycar with smooth finish, set it into the yellow basket for carrying stuff.",
+    "Pick the plastic toycar with smooth finish, place it in the basket with perforated sides.",
+    "Move the kids' toycar in bright blue to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Pick the hand-sized rolling toycar, drop the hand-sized rolling toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Put the toycar featuring black and white wheels in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Use one arm to place the compact glossy blue toycar in the handheld basket, adjust the handheld basket.",
+    "Grab the toycar with dark gray windows, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the small plastic toycar, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the plastic toycar with smooth finish, drop it in the yellow basket, then move the yellow basket.",
+    "Pick up the plastic toycar with smooth finish and set it inside the bright yellow basket.",
+    "Grab the blue toycar with yellow roof accents, place it in the plastic basket, then move the plastic basket away.",
+    "Pick the hand-sized rolling toycar, put it inside the basket with perforated sides.",
+    "Pick up the compact glossy blue toycar, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Pick the toycar with black wheels and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Take the hand-sized rolling toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Use one arm to place the bright blue toycar with roof buttons in the medium yellow basket with slots.",
+    "Place the kids' toycar in bright blue into the yellow basket and push the yellow basket slightly away.",
+    "Set the toycar made of plastic material in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Grab the toycar with black wheels and drop it in the plastic basket.",
+    "Pick and move the hand-sized rolling toycar, then shift the basket with black handle.",
+    "Pick up the toycar with black wheels and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Use the left arm to pick the compact glossy blue toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Place the toycar featuring black and white wheels in the handheld basket, then grab the handheld basket.",
+    "Lift the toycar featuring black and white wheels, place it into the plastic basket, move the plastic basket.",
+    "Grab the bright blue toycar with roof buttons, drop in the handheld basket, and move the handheld basket.",
+    "Lift the blue toycar with yellow roof accents, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Lift the hand-sized rolling toycar using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the kids' toycar in bright blue, place it in the plastic basket, shift the plastic basket.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the kids' toycar in bright blue with one arm, drop the kids' toycar in bright blue in the bright yellow basket.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Put the toycar with dark gray windows in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Grab the toycar featuring black and white wheels, set it into the bright yellow basket.",
+    "Pick the small plastic toycar, place it in the bright yellow basket.",
+    "Move the kids' toycar in bright blue to the basket with black handle, then shift the basket with black handle.",
+    "Pick the toycar with black wheels, drop the toycar with black wheels in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Put the toycar with dark gray windows in the handheld basket, then move the handheld basket away slightly.",
+    "Use one arm to place the toycar with dark gray windows in the plastic basket, adjust the plastic basket.",
+    "Grab the toycar with dark gray windows, drop it in the basket with black handle, shift the basket with black handle.",
+    "Pick up the toycar with dark gray windows, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the toycar with black wheels, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the blue toycar with yellow roof accents and set it inside the bright yellow basket.",
+    "Grab the plastic toycar with smooth finish, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Pick the plastic toycar with smooth finish, put it inside the rectangular basket with smooth surface.",
+    "Pick up the toycar with black wheels, place it in the yellow basket, grab the yellow basket.",
+    "Pick the hand-sized rolling toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Take the toycar with black wheels, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use one arm to place the plastic toycar with smooth finish in the yellow basket."
+  ],
+  "unseen": [
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode25.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1de143cfdf366bf1ef603253d129c933129af99
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the glossy rectangular playingcards box with one arm, drop the glossy rectangular playingcards box in the handheld basket.",
+    "Lift the hand-sized playingcards container, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick the smooth playingcards pack and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick and move the playingcards storage box, then shift the handheld basket.",
+    "Pick up the small playingcards pack and set it inside the plastic basket.",
+    "Pick the hand-sized playingcards container, put it inside the carrying basket with black plastic handle.",
+    "Place the glossy rectangular playingcards box in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Put the red playingcards box in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Pick the compact red playingcards pack, drop the compact red playingcards pack in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Place the hand-sized playingcards container into the handheld basket and push the handheld basket slightly away.",
+    "Pick up the small playingcards pack and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the red playingcards box, drop it in the plastic basket, shift the plastic basket.",
+    "Put the box for playingcards in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Grab the smooth playingcards pack, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Take the playingcards storage box, put the playingcards storage box into the yellow basket, shift the yellow basket.",
+    "Use one arm to grab the hand-sized playingcards container, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the small playingcards pack, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use one arm to place the small playingcards pack in the carrying basket with black plastic handle.",
+    "Use one arm to place the hand-sized playingcards container in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Use the left arm to pick the yellow and red playingcards box, then use the right arm for the basket with perforated sides.",
+    "Move the compact red playingcards pack to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick up the hand-sized playingcards container, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick up the hand-sized playingcards container, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Pick the compact red playingcards pack, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the hand-sized playingcards container using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Lift the playingcards storage box, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Use the left arm to grab the small playingcards pack, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Grab the compact red playingcards pack, set it into the yellow basket for carrying stuff.",
+    "Grab the glossy rectangular playingcards box, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Take the red playingcards box, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the red playingcards box and drop it in the bright yellow basket.",
+    "Pick the playingcards box with white accents, place it in the medium yellow basket with slots.",
+    "Set the compact red playingcards pack in the yellow basket, and shift the yellow basket away.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the yellow basket for carrying stuff.",
+    "Lift the red and yellow playingcards case, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the glossy rectangular playingcards box and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Pick and move the rectangular playingcards case, then shift the yellow basket for carrying stuff.",
+    "Pick up the compact red playingcards pack and set it inside the rectangular basket with smooth surface.",
+    "Pick the red playingcards box, put it inside the basket with arched black grip.",
+    "Place the smooth playingcards pack in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Put the smooth playingcards pack in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Place the compact red playingcards pack into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Pick up the box for playingcards and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the yellow and red playingcards box, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Put the smooth playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the hand-sized playingcards container, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the yellow and red playingcards box, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Use one arm to place the small playingcards pack in the basket with black handle.",
+    "Use one arm to place the glossy rectangular playingcards box in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the handheld basket.",
+    "Move the playingcards box with white accents to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Pick up the red playingcards box, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick up the compact red playingcards pack, place it in the yellow basket, grab the yellow basket.",
+    "Pick the smooth playingcards pack, place it in the yellow basket, shift the yellow basket.",
+    "Lift the playingcards storage box using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm.",
+    "Lift the yellow and red playingcards box, place it into the basket with black handle, move the basket with black handle.",
+    "Use the left arm to grab the red playingcards box, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Grab the playingcards box with white accents, set it into the bright yellow basket.",
+    "Grab the box for playingcards, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the yellow and red playingcards box, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the red and yellow playingcards case and drop it in the rectangular basket with smooth surface.",
+    "Pick the playingcards storage box, place it in the yellow basket.",
+    "Set the small playingcards pack in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Grab the red and yellow playingcards case with one arm, drop the red and yellow playingcards case in the bright yellow basket.",
+    "Lift the box for playingcards, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Pick the smooth playingcards pack and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick and move the compact red playingcards pack, then shift the rectangular yellow basket.",
+    "Pick up the playingcards storage box and set it inside the basket with perforated sides.",
+    "Pick the box for playingcards, put it inside the yellow basket.",
+    "Place the playingcards storage box in the plastic basket, then grab the plastic basket.",
+    "Put the red and yellow playingcards case in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Place the glossy rectangular playingcards box into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick up the red and yellow playingcards case and drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the hand-sized playingcards container, drop it in the plastic basket, shift the plastic basket.",
+    "Put the small playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the box for playingcards, drop it in the plastic basket, then move the plastic basket.",
+    "Take the box for playingcards, put the box for playingcards into the basket with perforated sides, shift the basket with perforated sides.",
+    "Use one arm to grab the red playingcards box, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the red and yellow playingcards case, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Use one arm to place the compact red playingcards pack in the yellow basket for carrying stuff.",
+    "Use one arm to place the box for playingcards in the yellow basket, adjust the yellow basket.",
+    "Use the left arm to pick the compact red playingcards pack, then use the right arm for the yellow basket.",
+    "Move the box for playingcards to the yellow basket, then shift the yellow basket.",
+    "Pick up the hand-sized playingcards container, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Pick up the hand-sized playingcards container, place it in the handheld basket, grab the handheld basket.",
+    "Pick the box for playingcards, place it in the basket with black handle, shift the basket with black handle.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the small playingcards pack, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Use the left arm to grab the compact red playingcards pack, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Grab the box for playingcards, set it into the basket with black handle.",
+    "Grab the rectangular playingcards case, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the hand-sized playingcards container, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Grab the red and yellow playingcards case and drop it in the bright yellow basket.",
+    "Pick the glossy rectangular playingcards box, place it in the basket with perforated sides.",
+    "Set the compact red playingcards pack in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Grab the playingcards storage box with one arm, drop the playingcards storage box in the yellow basket."
+  ],
+  "unseen": [
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow basket with open slots and move it.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode26.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2cf595d19fe6d1495f0a783726dbea22c44a39b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the compact teal toycar, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Lift the play car in teal and white, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the yellow basket.",
+    "Place the toycar with white roof and teal body in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the compact teal toycar and set it inside the medium yellow basket with slots.",
+    "Pick the light teal toycar with white roof and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Put the small car toy in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Move the compact teal toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the miniature teal vehicle toy, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Lift the miniature teal vehicle toy, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Pick up the mini car toy, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Pick up the small car toy, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Pick the smooth teal car, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Put the mini car toy in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Take the rounded teal car toy, put the rounded teal car toy into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the toycar with glossy finish into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Use the right arm to grab the mini car toy, place it in the rectangular yellow basket, and move the rectangular yellow basket using the left arm.",
+    "Take the miniature teal vehicle toy, set it in the plastic basket, shift the plastic basket lightly.",
+    "Use one arm to place the smooth teal car in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Grab the rounded teal car toy, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Grab the smooth teal car, set it into the handheld basket.",
+    "Use one arm to grab the mini car toy, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Grab the mini car toy and drop it in the rectangular yellow basket.",
+    "Use the right arm to pick the mini car toy, then use the left arm for the basket with black handle.",
+    "Set the toycar with black tires in the basket with black handle, and shift the basket with black handle away.",
+    "Grab the small teal plastic car with windows, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Pick the toycar with black tires, put it inside the bright yellow basket.",
+    "Pick up the smooth teal car and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Lift the smooth teal car using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Use one arm to place the small car toy in the basket with arched black grip.",
+    "Pick the toycar with glossy finish, place it in the basket with perforated sides.",
+    "Pick and move the toycar with black tires, then shift the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the small teal plastic car with windows, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular basket with smooth surface.",
+    "Place the play car in teal and white in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick up the smooth teal car and set it inside the rectangular basket with smooth surface.",
+    "Pick the light teal toycar with white roof and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Put the compact teal toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Move the smooth teal car to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, drop in the yellow basket, and move the yellow basket.",
+    "Lift the play car in teal and white, place it into the basket with black handle, move the basket with black handle.",
+    "Pick up the small car toy, put it in the handheld basket, shift the handheld basket a little.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Pick the light teal toycar with white roof, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Put the compact teal toycar in the plastic basket and pull the plastic basket away.",
+    "Take the small car toy, put the small car toy into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the play car in teal and white into the yellow basket and push the yellow basket slightly away.",
+    "Use the right arm to grab the play car in teal and white, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Take the rounded teal car toy, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Use one arm to place the rounded teal car toy in the yellow basket, adjust the yellow basket.",
+    "Grab the small teal plastic car with windows, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Grab the toycar with white roof and teal body, set it into the handheld basket.",
+    "Use one arm to grab the play car in teal and white, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the play car in teal and white and drop it in the rectangular basket with smooth surface.",
+    "Use the right arm to pick the toycar with white roof and teal body, then use the left arm for the handheld basket.",
+    "Set the small car toy in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Grab the rounded teal car toy, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with white roof and teal body, drop the toycar with white roof and teal body in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Pick the toycar with white roof and teal body, put it inside the bright yellow basket.",
+    "Pick up the miniature teal vehicle toy and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the light teal toycar with white roof using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use one arm to place the compact teal toycar in the yellow basket for carrying stuff.",
+    "Pick the mini car toy, place it in the handheld basket.",
+    "Pick and move the smooth teal car, then shift the basket with black handle.",
+    "Grab the rounded teal car toy, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the play car in teal and white, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Grab the compact teal toycar with one arm, drop the compact teal toycar in the carrying basket with black plastic handle.",
+    "Place the light teal toycar with white roof in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the small teal plastic car with windows and set it inside the carrying basket with black plastic handle.",
+    "Pick the toycar with glossy finish and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Put the toycar with black tires in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Move the play car in teal and white to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the play car in teal and white, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Lift the compact teal toycar, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Pick up the toycar with black tires, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Pick up the toycar with white roof and teal body, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick the miniature teal vehicle toy, place it in the yellow basket, shift the yellow basket.",
+    "Put the small teal plastic car with windows in the plastic basket and pull the plastic basket away.",
+    "Take the light teal toycar with white roof, put the light teal toycar with white roof into the yellow basket, shift the yellow basket.",
+    "Place the toycar with black tires into the yellow basket and push the yellow basket slightly away.",
+    "Use the right arm to grab the rounded teal car toy, place it in the handheld basket, and move the handheld basket using the left arm.",
+    "Take the play car in teal and white, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Use one arm to place the miniature teal vehicle toy in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Grab the toycar with white roof and teal body, place it in the yellow basket, then move the yellow basket away.",
+    "Grab the small teal plastic car with windows, set it into the handheld basket.",
+    "Use one arm to grab the small car toy, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Grab the compact teal toycar and drop it in the handheld basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the rectangular basket with smooth surface.",
+    "Set the compact teal toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the mini car toy, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the play car in teal and white, drop the play car in teal and white in the handheld basket, slide the handheld basket lightly.",
+    "Pick the toycar with glossy finish, put it inside the basket with black handle.",
+    "Pick up the rounded teal car toy and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Lift the compact teal toycar using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Use one arm to place the light teal toycar with white roof in the yellow basket for carrying stuff.",
+    "Pick the toycar with white roof and teal body, place it in the carrying basket with black plastic handle.",
+    "Pick and move the small teal plastic car with windows, then shift the yellow basket for carrying stuff.",
+    "Grab the play car in teal and white, drop it in the basket with arched black grip, shift the basket with arched black grip."
+  ],
+  "unseen": [
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the teal toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic teal car with wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the teal toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode27.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c7c46ff02ced1311174d34b1ccbafaaabac17f
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the oval-shaped basket with woven body.",
+    "Place the palm-sized plastic toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Lift the lightweight toycar, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Set the toycar with smiling face design in the basket for carrying things, and shift the basket for carrying things away.",
+    "Put the blue toycar with white windows in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the plastic toycar, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the toycar with black and orange wheels in the oval-shaped basket with woven body.",
+    "Take the small toycar, put the small toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the lightweight toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the toycar with black and orange wheels, put it inside the brown basket with woven ridges.",
+    "Put the lightweight toycar in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick up the toycar with black and orange wheels and set it inside the light brown oval basket.",
+    "Lift the toycar for kids, place it into the basket for holding items, move the basket for holding items.",
+    "Take the palm-sized plastic toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Move the blue toycar with white windows to the light brown oval basket, then shift the light brown oval basket.",
+    "Use one arm to place the palm-sized plastic toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the toycar for kids, drop the toycar for kids in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the small toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick the toycar with smiling face design and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the small blue car-shaped toycar, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Place the toycar with rounded edges in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the blue toycar with white windows using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Grab the toycar for kids, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use the right arm to grab the toycar for kids, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Pick up the toycar with smiling face design and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the toycar with smiling face design, place it in the woven basket.",
+    "Pick and move the toycar with black and orange wheels, then shift the brown basket.",
+    "Pick up the plastic toycar, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the palm-sized plastic toycar, set it into the basket for carrying things.",
+    "Grab the glossy blue toycar, drop in the basket for holding items, and move the basket for holding items.",
+    "Use the right arm to pick the plastic toycar, then use the left arm for the basket made of woven wood.",
+    "Grab the glossy blue toycar and drop it in the brown basket with woven ridges.",
+    "Use one arm to grab the lightweight toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the small blue car-shaped toycar with one arm, drop the small blue car-shaped toycar in the oval-shaped basket with woven body.",
+    "Place the plastic toycar into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the small blue car-shaped toycar, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Set the small blue car-shaped toycar in the basket for carrying things, and shift the basket for carrying things away.",
+    "Put the blue toycar with white windows in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the bright blue toycar, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the blue toycar with white windows in the basket for carrying things.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the toycar for kids, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick the blue toycar with white windows, put it inside the wooden basket with curved handle.",
+    "Put the toycar with smiling face design in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick up the toycar with rounded edges and set it inside the basket for carrying things.",
+    "Lift the toycar for kids, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Take the glossy blue toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Move the glossy blue toycar to the basket with handle, then shift the basket with handle.",
+    "Use one arm to place the blue toycar with white windows in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick the lightweight toycar, drop the lightweight toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the toycar with rounded edges, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick the small toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick up the toycar with smiling face design, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Place the toycar with rounded edges in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Grab the toycar for kids, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the plastic toycar, place it in the basket for holding items, and move the basket for holding items using the left arm.",
+    "Pick up the palm-sized plastic toycar and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the lightweight toycar, place it in the brown basket with woven ridges.",
+    "Pick and move the toycar with black and orange wheels, then shift the wooden basket with curved handle.",
+    "Pick up the toycar with rounded edges, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the small blue car-shaped toycar, set it into the brown basket with woven ridges.",
+    "Grab the small toycar, drop in the basket with handle, and move the basket with handle.",
+    "Use the right arm to pick the toycar with black and orange wheels, then use the left arm for the wooden basket with curved handle.",
+    "Grab the blue toycar with white windows and drop it in the woven basket.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the toycar with rounded edges with one arm, drop the toycar with rounded edges in the wooden basket with curved handle.",
+    "Place the small blue car-shaped toycar into the basket with handle and push the basket with handle slightly away.",
+    "Lift the toycar with black and orange wheels, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Set the bright blue toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Put the blue toycar with white windows in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the small toycar, drop it in the woven basket, shift the woven basket.",
+    "Use one arm to place the toycar with rounded edges in the smooth ribbed light brown basket.",
+    "Take the lightweight toycar, put the lightweight toycar into the basket with handle, shift the basket with handle.",
+    "Pick the glossy blue toycar, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the plastic toycar, put it inside the brown basket.",
+    "Put the toycar with rounded edges in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the toycar with rounded edges and set it inside the basket with loop handle.",
+    "Lift the glossy blue toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Take the small toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Move the small toycar to the basket for carrying things, then shift the basket for carrying things.",
+    "Use one arm to place the toycar with black and orange wheels in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the small blue car-shaped toycar, drop the small blue car-shaped toycar in the basket with handle, slide the basket with handle lightly.",
+    "Grab the toycar with rounded edges, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick the glossy blue toycar and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the bright blue toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Place the palm-sized plastic toycar in the brown basket, then grab the brown basket.",
+    "Lift the palm-sized plastic toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Grab the glossy blue toycar, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the toycar with rounded edges, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Pick up the small toycar and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with smiling face design, place it in the brown basket.",
+    "Pick and move the glossy blue toycar, then shift the smooth ribbed light brown basket.",
+    "Pick up the palm-sized plastic toycar, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the glossy blue toycar, set it into the basket with loop handle.",
+    "Grab the toycar with rounded edges, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Use the right arm to pick the blue toycar with white windows, then use the left arm for the brown basket with woven ridges.",
+    "Grab the small blue car-shaped toycar and drop it in the basket with loop handle.",
+    "Use one arm to grab the palm-sized plastic toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the small blue car-shaped toycar with one arm, drop the small blue car-shaped toycar in the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and place into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with smooth finish in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with smooth finish, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and place into the medium basket with smooth texture.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and put it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and place into the medium basket with smooth texture.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with orange wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with orange wheels and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with smooth finish in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish and drop in the oval basket with medium storage space.",
+    "Move the toycar with smooth finish to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with orange wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the toycar with orange wheels and drop in the medium basket with smooth texture.",
+    "Move the toycar with orange wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with smooth finish, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with orange wheels and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the blue toycar and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with smooth finish and put it into the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the toycar with smooth finish to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with smooth finish and put it into the basket with rounded edges.",
+    "Pick up the toycar with orange wheels and drop in the oval basket with medium storage space.",
+    "Move the toycar with smooth finish to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and place into the oval basket with medium storage space.",
+    "Pick up the toycar with orange wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the toycar with orange wheels in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the toycar with smooth finish to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and put it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and place into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with smooth finish and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish and drop in the basket with rounded edges.",
+    "Move the toycar with orange wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish and drop in the basket with rounded edges.",
+    "Move the toycar with smooth finish to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode28.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..785360836d279b4316d20604180f313e98559aeb
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the palm-sized blue toycar with one arm, drop the palm-sized blue toycar in the basket for carrying things.",
+    "Lift the bright sleek toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Use one arm to grab the bright sleek toycar, place it in the brown basket, then move the brown basket.",
+    "Pick up the toycar with black tires and set it inside the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the small plastic toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the blue and gray toycar and drop it in the brown basket with woven ridges.",
+    "Lift the bright sleek toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Place the toycar with transparent windshield in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the blue toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick the blue top toycar, put it inside the brown basket with woven ridges.",
+    "Pick the blue and gray toycar, place it in the wooden basket with curved handle.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the bright sleek toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the blue top toycar, drop in the basket with handle, and move the basket with handle.",
+    "Take the toycar with black tires, put the toycar with black tires into the brown basket, shift the brown basket.",
+    "Grab the toycar with shiny plastic finish, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Place the toycar with black tires into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Put the toycar with shiny plastic finish in the woven basket and pull the woven basket away.",
+    "Use one arm to place the toycar with shiny wheels in the brown basket with woven ridges.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use the right arm to pick the toycar with transparent windshield, then use the left arm for the basket made of woven wood.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Use one arm to place the bright sleek toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the palm-sized blue toycar, set it into the basket with handle.",
+    "Pick up the blue toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use the right arm to grab the palm-sized blue toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Pick up the blue top toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Move the toycar with black tires to the basket for holding items, then shift the basket for holding items.",
+    "Pick up the toycar with smooth texture, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the toycar with shiny wheels, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Set the small plastic toycar in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the woven basket.",
+    "Lift the toycar for kids play, place it into the basket with handle, move the basket with handle.",
+    "Use one arm to grab the toycar for kids play, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the toycar with shiny wheels and set it inside the basket with handle.",
+    "Pick the blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the bright sleek toycar in the woven basket, then move the woven basket away slightly.",
+    "Grab the small plastic toycar and drop it in the basket for holding items.",
+    "Lift the small plastic toycar, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Place the toycar for kids play in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Take the blue top toycar, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the palm-sized blue toycar, put it inside the woven basket.",
+    "Pick the toycar for kids play, place it in the wooden basket with curved handle.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the brown basket, slide the brown basket lightly.",
+    "Pick the bright sleek toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the bright sleek toycar, drop in the basket for holding items, and move the basket for holding items.",
+    "Take the blue top toycar, put the blue top toycar into the brown basket, shift the brown basket.",
+    "Grab the blue toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Place the small plastic toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Put the small plastic toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the toycar with black tires in the basket made of woven wood.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Use the right arm to pick the toycar with shiny plastic finish, then use the left arm for the light brown oval basket.",
+    "Pick and move the small plastic toycar, then shift the basket with handle.",
+    "Use one arm to place the toycar with shiny wheels in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the toycar with smooth texture, set it into the wooden basket with curved handle.",
+    "Pick up the toycar with black tires, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use the right arm to grab the palm-sized blue toycar, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Pick up the toycar with shiny wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the toycar with black tires to the brown basket, then shift the brown basket.",
+    "Pick up the bright sleek toycar, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the toycar for kids play, drop it in the basket for holding items, shift the basket for holding items.",
+    "Set the blue top toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Grab the bright sleek toycar with one arm, drop the bright sleek toycar in the basket for carrying things.",
+    "Lift the palm-sized blue toycar, place it into the woven basket, move the woven basket.",
+    "Use one arm to grab the small plastic toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the bright sleek toycar and set it inside the basket for holding items.",
+    "Pick the blue top toycar, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Put the blue and gray toycar in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the palm-sized blue toycar and drop it in the basket with loop handle.",
+    "Lift the toycar with black tires, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Place the palm-sized blue toycar in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the blue toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the small plastic toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the small plastic toycar, put it inside the woven basket.",
+    "Pick the toycar with black tires, place it in the brown basket.",
+    "Pick the toycar with smooth texture, drop the toycar with smooth texture in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the blue top toycar and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the blue top toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Take the toycar with transparent windshield, put the toycar with transparent windshield into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the toycar with smooth texture, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Place the toycar with transparent windshield into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Put the blue toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Use one arm to place the blue toycar in the basket with handle.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use the right arm to pick the toycar with transparent windshield, then use the left arm for the brown basket.",
+    "Pick and move the blue toycar, then shift the basket made of woven wood.",
+    "Use one arm to place the palm-sized blue toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, set it into the basket for holding items.",
+    "Pick up the small plastic toycar, put it in the basket with handle, shift the basket with handle a little.",
+    "Use the right arm to grab the blue and gray toycar, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Pick up the blue and gray toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Move the toycar for kids play to the basket with handle, then shift the basket with handle.",
+    "Pick up the toycar with transparent windshield, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Grab the toycar with smooth texture, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Set the blue toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the woven basket."
+  ],
+  "unseen": [
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode29.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b289149d21ed25607b5206e3f7dc41a7da9461
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the black playing cards box, then use the left arm for the plastic basket.",
+    "Lift the cardboard playing cards box using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Move the playing cards box with gold text to the basket with black handle, then shift the basket with black handle.",
+    "Grab the palm-sized box for playing cards and drop it in the yellow basket.",
+    "Pick up the black playing cards box, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Put the small black box with cards in the yellow basket, then move the yellow basket away slightly.",
+    "Pick and move the black box with rectangular shape, then shift the bright yellow basket.",
+    "Grab the black box with rectangular shape, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Grab the smooth black cards container, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Pick the black box with rectangular shape, place it in the basket with arched black grip.",
+    "Set the black playing cards box in the bright yellow basket, and shift the bright yellow basket away.",
+    "Pick up the rectangular box for card storage and set it inside the basket with black handle.",
+    "Pick the box holding playing cards, put it inside the basket with arched black grip.",
+    "Take the cardboard playing cards box, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Put the black box with rectangular shape in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick up the cardboard playing cards box, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the black playing cards box, set it into the handheld basket.",
+    "Place the black box with rectangular shape into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Place the box with cards inside in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the handheld basket.",
+    "Take the black playing cards box, put the black playing cards box into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Lift the smooth black cards container, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Use the right arm to grab the box with cards inside, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick the cardboard playing cards box and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the compact box for playing cards, drop the compact box for playing cards in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick the rectangle-shaped cards box, place it in the yellow basket, shift the yellow basket.",
+    "Use one arm to place the smooth black cards container in the yellow basket, adjust the yellow basket.",
+    "Grab the black box with rectangular shape, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Use one arm to grab the playing cards box with gold text, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the playing cards box with gold text and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Use one arm to place the palm-sized box for playing cards in the yellow basket for carrying stuff.",
+    "Grab the box with cards inside, drop it in the plastic basket, then move the plastic basket.",
+    "Lift the rectangle-shaped cards box, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Use the right arm to pick the smooth black cards container, then use the left arm for the yellow basket.",
+    "Lift the compact box for playing cards using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Move the rectangular box for card storage to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the palm-sized box for playing cards and drop it in the carrying basket with black plastic handle.",
+    "Pick up the rectangular box for card storage, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Put the smooth black cards container in the yellow basket, then move the yellow basket away slightly.",
+    "Pick and move the black box with rectangular shape, then shift the basket with perforated sides.",
+    "Grab the box with cards inside, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Grab the compact box for playing cards, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick the small black box with cards, place it in the rectangular basket with smooth surface.",
+    "Set the black playing cards box in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Pick up the small black box with cards and set it inside the handheld basket.",
+    "Pick the small black box with cards, put it inside the basket with black handle.",
+    "Take the compact box for playing cards, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Put the compact box for playing cards in the handheld basket and pull the handheld basket away.",
+    "Pick up the box holding playing cards, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the smooth black cards container, set it into the carrying basket with black plastic handle.",
+    "Place the black box with rectangular shape into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Place the rectangle-shaped cards box in the yellow basket, then grab the yellow basket.",
+    "Grab the rectangular box for card storage with one arm, drop the rectangular box for card storage in the rectangular basket with smooth surface.",
+    "Take the box holding playing cards, put the box holding playing cards into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the small black box with cards, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Use the right arm to grab the box holding playing cards, place it in the basket with arched black grip, and move the basket with arched black grip using the left arm.",
+    "Pick the box with cards inside and position it in the handheld basket, move the handheld basket slightly.",
+    "Pick the box with cards inside, drop the box with cards inside in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Pick the box with cards inside, place it in the plastic basket, shift the plastic basket.",
+    "Use one arm to place the rectangle-shaped cards box in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Grab the compact box for playing cards, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to grab the black playing cards box, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the playing cards box with gold text and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Use one arm to place the rectangle-shaped cards box in the plastic basket.",
+    "Grab the black box with rectangular shape, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the small black box with cards, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the bright yellow basket.",
+    "Lift the rectangle-shaped cards box using the right arm, drop it in the plastic basket, then push the plastic basket via the left arm.",
+    "Move the rectangular box for card storage to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Grab the smooth black cards container and drop it in the basket with black handle.",
+    "Pick up the rectangle-shaped cards box, place it in the basket with black handle, grab the basket with black handle.",
+    "Put the small black box with cards in the handheld basket, then move the handheld basket away slightly.",
+    "Pick and move the rectangle-shaped cards box, then shift the bright yellow basket.",
+    "Grab the compact box for playing cards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Grab the playing cards box with gold text, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Pick the rectangular box for card storage, place it in the rectangular basket with smooth surface.",
+    "Set the playing cards box with gold text in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Pick up the black box with rectangular shape and set it inside the handheld basket.",
+    "Pick the rectangular box for card storage, put it inside the basket with arched black grip.",
+    "Take the compact box for playing cards, set it in the yellow basket, shift the yellow basket lightly.",
+    "Put the smooth black cards container in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Pick up the black playing cards box, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the box with cards inside, set it into the yellow basket for carrying stuff.",
+    "Place the box holding playing cards into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Place the rectangular box for card storage in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the basket with black handle.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the yellow basket, shift the yellow basket.",
+    "Lift the palm-sized box for playing cards, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick the black box with rectangular shape and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Pick the rectangle-shaped cards box, place it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the small black box with cards in the yellow basket, adjust the yellow basket.",
+    "Grab the cardboard playing cards box, drop it in the plastic basket, shift the plastic basket.",
+    "Use one arm to grab the compact box for playing cards, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the box holding playing cards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the cardboard playing cards box in the medium yellow basket with slots.",
+    "Grab the black playing cards box, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the playing cards box with gold text, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the yellow basket for carrying stuff."
+  ],
+  "unseen": [
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the medium-sized basket with perforated texture and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode3.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef7d6348b931e0135ecb21e28a9f02d5df4e718
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact glossy blue toycar, put it inside the basket with black handle.",
+    "Take the small plastic toycar, put the small plastic toycar into the basket with black handle, shift the basket with black handle.",
+    "Use the left arm to pick the kids' toycar in bright blue, then use the right arm for the rectangular yellow basket.",
+    "Use the left arm to grab the toycar with black wheels, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Pick up the toycar made of plastic material, put it in the basket with black handle, shift the basket with black handle a little.",
+    "Grab the toycar with rounded edges, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to grab the plastic toycar with smooth finish, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Grab the small plastic toycar, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Grab the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Take the hand-sized rolling toycar, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick the toycar featuring black and white wheels, place it in the yellow basket, shift the yellow basket.",
+    "Pick up the toycar with dark gray windows and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the toycar with rounded edges and position it in the basket with black handle, move the basket with black handle slightly.",
+    "Grab the plastic toycar with smooth finish and drop it in the medium yellow basket with slots.",
+    "Lift the bright blue toycar with roof buttons using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Pick the toycar made of plastic material, place it in the basket with black handle.",
+    "Place the blue toycar with yellow roof accents in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Put the hand-sized rolling toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Set the compact glossy blue toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Lift the small plastic toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Pick up the small plastic toycar and set it inside the basket with black handle.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the toycar with dark gray windows with one arm, drop the toycar with dark gray windows in the bright yellow basket.",
+    "Put the hand-sized rolling toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Lift the blue toycar with yellow roof accents, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Place the toycar featuring black and white wheels into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the bright blue toycar with roof buttons, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to place the small plastic toycar in the yellow basket for carrying stuff.",
+    "Pick and move the toycar with rounded edges, then shift the medium yellow basket with slots.",
+    "Grab the toycar featuring black and white wheels, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff.",
+    "Grab the toycar made of plastic material, set it into the medium yellow basket with slots.",
+    "Use one arm to place the toycar made of plastic material in the yellow basket, adjust the yellow basket.",
+    "Move the bright blue toycar with roof buttons to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with arched black grip.",
+    "Take the toycar with black wheels, put the toycar with black wheels into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use the left arm to pick the hand-sized rolling toycar, then use the right arm for the carrying basket with black plastic handle.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Pick up the blue toycar with yellow roof accents, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the plastic toycar with smooth finish, drop it in the plastic basket, then move the plastic basket.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the kids' toycar in bright blue, drop it in the plastic basket, shift the plastic basket.",
+    "Grab the plastic toycar with smooth finish, place it in the handheld basket, then move the handheld basket away.",
+    "Take the bright blue toycar with roof buttons, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the small plastic toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with rounded edges and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the bright blue toycar with roof buttons and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Grab the hand-sized rolling toycar and drop it in the plastic basket.",
+    "Lift the compact glossy blue toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with perforated sides.",
+    "Place the bright blue toycar with roof buttons in the plastic basket, then grab the plastic basket.",
+    "Put the toycar with black wheels in the bright yellow basket and pull the bright yellow basket away.",
+    "Set the kids' toycar in bright blue in the yellow basket, and shift the yellow basket away.",
+    "Lift the bright blue toycar with roof buttons, place it into the basket with black handle, move the basket with black handle.",
+    "Pick up the kids' toycar in bright blue and set it inside the carrying basket with black plastic handle.",
+    "Pick the toycar featuring black and white wheels, drop the toycar featuring black and white wheels in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the carrying basket with black plastic handle.",
+    "Put the toycar featuring black and white wheels in the handheld basket, then move the handheld basket away slightly.",
+    "Lift the toycar with rounded edges, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Place the blue toycar with yellow roof accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick up the toycar with dark gray windows, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Use one arm to place the kids' toycar in bright blue in the basket with arched black grip.",
+    "Pick and move the kids' toycar in bright blue, then shift the yellow basket for carrying stuff.",
+    "Grab the toycar with black wheels, drop in the handheld basket, and move the handheld basket.",
+    "Grab the toycar with rounded edges, set it into the bright yellow basket.",
+    "Use one arm to place the kids' toycar in bright blue in the bright yellow basket, adjust the bright yellow basket.",
+    "Move the hand-sized rolling toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the compact glossy blue toycar, put it inside the medium yellow basket with slots.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the basket with black handle, shift the basket with black handle.",
+    "Use the left arm to pick the toycar with rounded edges, then use the right arm for the basket with perforated sides.",
+    "Use the left arm to grab the toycar featuring black and white wheels, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Pick up the bright blue toycar with roof buttons, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the kids' toycar in bright blue, drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to grab the small plastic toycar, place it in the handheld basket, then move the handheld basket.",
+    "Grab the toycar made of plastic material, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Grab the kids' toycar in bright blue, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the bright blue toycar with roof buttons, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the toycar with black wheels, place it in the plastic basket, shift the plastic basket.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick the bright blue toycar with roof buttons and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Grab the toycar featuring black and white wheels and drop it in the basket with black handle.",
+    "Lift the toycar with rounded edges using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Pick the compact glossy blue toycar, place it in the basket with arched black grip.",
+    "Place the kids' toycar in bright blue in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Put the compact glossy blue toycar in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Set the plastic toycar with smooth finish in the bright yellow basket, and shift the bright yellow basket away.",
+    "Lift the toycar made of plastic material, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick up the blue toycar with yellow roof accents and set it inside the plastic basket.",
+    "Pick the bright blue toycar with roof buttons, drop the bright blue toycar with roof buttons in the basket with black handle, slide the basket with black handle lightly.",
+    "Grab the plastic toycar with smooth finish with one arm, drop the plastic toycar with smooth finish in the bright yellow basket.",
+    "Put the toycar featuring black and white wheels in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Lift the toycar with black wheels, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Place the toycar with black wheels into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Pick up the toycar with dark gray windows, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Use one arm to place the small plastic toycar in the carrying basket with black plastic handle.",
+    "Pick and move the toycar with rounded edges, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar featuring black and white wheels, drop in the yellow basket, and move the yellow basket.",
+    "Grab the small plastic toycar, set it into the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar with dark gray windows in the basket with black handle, adjust the basket with black handle.",
+    "Move the toycar with dark gray windows to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with black handle."
+  ],
+  "unseen": [
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode30.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a7b4468b22a6abf78595c8c11a3e9a5c69c60e
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the blue carton for playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the box of playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket for holding items.",
+    "Place the blue and white playingcards packaging in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Move the card box with golden designs to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the wooden basket with curved handle.",
+    "Pick and move the card box with golden designs, then shift the basket for carrying things.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the light brown oval basket.",
+    "Take the small playingcards container, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket, then move the brown basket.",
+    "Lift the blue pack holding playingcards using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use one arm to place the blue pack holding playingcards in the wooden basket with curved handle.",
+    "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 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 and pull the woven basket away.",
+    "Pick up the playingcards pack with blue top, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for holding items.",
+    "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.",
+    "Grab the small playingcards container, set it into the smooth ribbed light brown basket.",
+    "Put the box of playingcards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Set the playingcards pack with blue top in the basket with handle, and shift the basket with handle away.",
+    "Use one arm to place the playingcards box with white symbols in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the blue and white playingcards packaging and drop it in the woven basket.",
+    "Place the smooth playingcards holder into the woven basket and push the woven basket slightly away.",
+    "Grab the blue carton for playingcards, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the card box with golden designs, put it inside the basket for carrying things.",
+    "Use the right 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 left arm.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue carton for playingcards, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the smooth playingcards holder, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the smooth playingcards holder, place it into the brown basket, move the brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the basket with handle, grab the basket with handle.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the brown basket, shift the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the brown basket.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the playingcards pack with blue top to the basket for carrying things, then shift the basket for carrying things.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood.",
+    "Pick and move the playingcards box with white symbols, then shift the wooden basket with curved handle.",
+    "Use the right arm to pick the blue and white playingcards packaging, then use the left arm for the woven basket.",
+    "Take the rectangular blue playingcards case, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the rectangular blue playingcards case using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use one arm to place the box of playingcards in the brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the blue pack holding playingcards, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Put the blue carton for playingcards in the basket with handle and pull the basket with handle away.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Pick up the smooth playingcards holder and set it inside the wooden basket with curved handle.",
+    "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.",
+    "Grab the card box with golden designs, set it into the brown basket with woven ridges.",
+    "Put the blue and white playingcards packaging in the brown basket, then move the brown basket away slightly.",
+    "Set the smooth playingcards holder in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the smooth playingcards holder in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case and drop it in the basket for carrying things.",
+    "Place the palm-sized playingcards carton into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the blue playingcards box, put it inside the basket made of woven wood.",
+    "Use the right arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Pick the blue carton for playingcards and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Lift the blue pack holding playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the playingcards pack with blue top, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the blue playingcards box, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Take the small playingcards container, put the small playingcards container into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with loop handle.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "Pick the playingcards pack with blue top, place it in the basket for holding items.",
+    "Pick and move the palm-sized playingcards carton, then shift the smooth ribbed light brown basket.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the basket for holding items.",
+    "Take the palm-sized playingcards carton, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the blue playingcards box using the right arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the left arm.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop it in the brown basket, shift the brown basket.",
+    "Grab the playingcards box with white symbols, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the small playingcards container, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick up the box of playingcards and set it inside 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 blue and white playingcards packaging, set it into 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.",
+    "Set the playingcards box with white symbols in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the playingcards pack with blue top in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Place the blue playingcards box into the basket for holding items and push the basket for holding items slightly away.",
+    "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.",
+    "Pick up the playingcards box with white symbols and drop it in the woven basket, then move the woven basket.",
+    "Pick the card box with golden designs, put it inside the basket for holding items.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "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.",
+    "Pick the card box with golden designs, place it in the basket for holding items, shift the basket for holding items.",
+    "Lift the card box with golden designs, drop it in the woven basket, then slightly relocate the woven basket."
+  ],
+  "unseen": [
+    "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 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 and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, 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.",
+    "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 medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the 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.",
+    "Pick up the rectangular playingcards pack 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 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.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the 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 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.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "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 basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the 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 put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the 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 basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the 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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, 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.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "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 small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards 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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, 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.",
+    "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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "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 basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the 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 in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "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 oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode31.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..317b181b01bbd5b56007602a31587a2f91dab998
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket for carrying things.",
+    "Use one arm to place the toycar with smooth texture in the basket for carrying things.",
+    "Pick up the toycar with shiny wheels, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use one arm to grab the toycar with shiny plastic finish, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the toycar with transparent windshield, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Grab the small plastic toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Take the blue toycar, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue and gray toycar, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the blue toycar in the basket with handle, then grab the basket with handle.",
+    "Grab the bright sleek toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with transparent windshield, put it inside the woven basket.",
+    "Move the bright sleek toycar to the brown basket, then shift the brown basket.",
+    "Lift the blue and gray toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use one arm to place the blue and gray toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick the bright sleek toycar, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Lift the blue top toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the toycar for kids play and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the toycar for kids play with one arm, drop the toycar for kids play in the basket made of woven wood.",
+    "Pick the blue and gray toycar, place it in the basket with loop handle.",
+    "Grab the toycar with shiny plastic finish and drop it in the light brown oval basket.",
+    "Pick the palm-sized blue toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the toycar for kids play into the basket with handle and push the basket with handle slightly away.",
+    "Set the toycar with shiny plastic finish in the brown basket, and shift the brown basket away.",
+    "Pick the blue top toycar, drop the blue top toycar in the basket for holding items, slide the basket for holding items lightly.",
+    "Grab the blue toycar, set it into the woven basket.",
+    "Pick up the small plastic toycar, place it in the basket for holding items, grab the basket for holding items.",
+    "Use the left arm to grab the bright sleek toycar, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the basket with handle, shift the basket with handle.",
+    "Put the toycar with transparent windshield in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the blue and gray toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick and move the small plastic toycar, then shift the woven basket.",
+    "Pick up the blue and gray toycar and set it inside the light brown oval basket.",
+    "Grab the toycar with shiny plastic finish, drop in the woven basket, and move the woven basket.",
+    "Use the left arm to pick the toycar with black tires, then use the right arm for the wooden basket with curved handle.",
+    "Use one arm to place the palm-sized blue toycar in the basket with handle.",
+    "Pick up the toycar with transparent windshield, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Use one arm to grab the blue toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Lift the blue top toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Grab the small plastic toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Take the bright sleek toycar, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the toycar with smooth texture, drop it in the basket for holding items, shift the basket for holding items.",
+    "Place the toycar with black tires in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, drop it in the brown basket, then move the brown basket.",
+    "Pick the bright sleek toycar, put it inside the basket with handle.",
+    "Move the bright sleek toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Lift the toycar with shiny plastic finish 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.",
+    "Use one arm to place the toycar for kids play in the woven basket, adjust the woven basket.",
+    "Pick the blue top toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Lift the toycar with black tires, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the palm-sized blue toycar and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the basket made of woven wood.",
+    "Pick the blue toycar, place it in the basket with loop handle.",
+    "Grab the toycar with shiny plastic finish and drop it in the basket for holding items.",
+    "Pick the toycar with transparent windshield and position it in the brown basket, move the brown basket slightly.",
+    "Place the palm-sized blue toycar into the basket with handle and push the basket with handle slightly away.",
+    "Set the blue and gray toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the toycar with black tires, set it into the brown basket.",
+    "Pick up the palm-sized blue toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Use the left arm to grab the blue and gray toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Take the toycar with black tires, put the toycar with black tires into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue toycar in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Put the toycar with shiny wheels in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick and move the toycar for kids play, then shift the basket for carrying things.",
+    "Pick up the bright sleek toycar and set it inside the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, drop in the basket for holding items, and move the basket for holding items.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket for holding items.",
+    "Use one arm to place the small plastic toycar in the basket for carrying things.",
+    "Pick up the bright sleek toycar, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Use one arm to grab the blue toycar, place it in the woven basket, then move the woven basket.",
+    "Lift the palm-sized blue toycar, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the small plastic toycar, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Take the blue toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Grab the toycar with black tires, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Place the toycar for kids play in the basket for carrying things, then grab the basket for carrying things.",
+    "Grab the toycar for kids play, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the palm-sized blue toycar, put it inside the basket for holding items.",
+    "Move the toycar with shiny wheels to the basket with loop handle, then shift the basket with loop handle.",
+    "Lift the blue and gray toycar using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Use one arm to place the bright sleek toycar in the brown basket, adjust the brown basket.",
+    "Pick the palm-sized blue toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Lift the toycar with smooth texture, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the toycar with shiny plastic finish with one arm, drop the toycar with shiny plastic finish in the brown basket.",
+    "Pick the toycar with shiny wheels, place it in the woven basket.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Pick the toycar with shiny wheels and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the palm-sized blue toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Set the palm-sized blue toycar in the basket with handle, and shift the basket with handle away.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the woven basket, slide the woven basket lightly.",
+    "Grab the toycar with black tires, set it into the oval-shaped basket with woven body.",
+    "Pick up the toycar with transparent windshield, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use the left arm to grab the toycar with black tires, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the basket for holding items, shift the basket for holding items.",
+    "Put the toycar with transparent windshield in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the palm-sized blue toycar in the basket with handle and pull the basket with handle away.",
+    "Pick and move the toycar with shiny wheels, then shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with transparent windshield and set it inside the woven basket.",
+    "Grab the blue top toycar, drop in the basket with handle, and move the basket with handle.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the brown basket."
+  ],
+  "unseen": [
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode32.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f160d882f5b76cbc30cc0217731c1ce12e061a3
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small toycar for kids play, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the toycar with rounded compact shape, put it inside the basket with handle.",
+    "Place the toycar with purple tinted windows into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the pink toycar shaped like real car, place it in the basket for carrying things.",
+    "Use one arm to place the toycar with rounded compact shape in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the miniature pink car with black wheels in the basket with handle and pull the basket with handle away.",
+    "Pick the pink toycar shaped like real car, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the miniature pink car with black wheels, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Lift the hand-sized toycar with white roof bars, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the small toycar for kids play with one arm, drop the small toycar for kids play in the woven basket.",
+    "Pick and move the toycar with purple tinted windows, then shift the basket with loop handle.",
+    "Take the pink toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Use the left arm to grab the pink car with purple windows, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick up the small toycar for kids play, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the pink car with purple windows in the basket with loop handle.",
+    "Grab the toycar with rounded compact shape and drop it in the light brown oval basket.",
+    "Pick the pink toycar, drop the pink toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the toycar with rounded compact shape, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the toycar with rounded compact shape, set it into the woven basket.",
+    "Grab the small toycar for kids play, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the pink toycar with rounded corners and position it in the basket with handle, move the basket with handle slightly.",
+    "Use the left arm to pick the toycar with rounded compact shape, then use the right arm for the basket for holding items.",
+    "Lift the hand-sized toycar with white roof bars using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the pink toycar, drop it in the woven basket, shift the woven basket.",
+    "Set the small pink car with smooth texture in the basket for carrying things, and shift the basket for carrying things away.",
+    "Place the hand-sized toycar with white roof bars in the basket with loop handle, then grab the basket with loop handle.",
+    "Put the miniature pink car with black wheels in the basket with handle, then move the basket with handle away slightly.",
+    "Take the small pink car with smooth texture, put the small pink car with smooth texture into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the toycar with purple tinted windows and set it inside the brown basket.",
+    "Move the pink car with purple windows to the basket with loop handle, then shift the basket with loop handle.",
+    "Use one arm to grab the toycar made from smooth plastic, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the pink toycar with rounded corners and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the toycar with purple tinted windows, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the miniature pink car with black wheels, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Pick the small pink car with smooth texture, put it inside the basket with loop handle.",
+    "Place the pink toycar into the woven basket and push the woven basket slightly away.",
+    "Pick the miniature pink car with black wheels, place it in the smooth ribbed light brown basket.",
+    "Use one arm to place the pink car with purple windows in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Put the toycar with rounded compact shape in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the pink toycar, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the pink car with purple windows, put it in the woven basket, shift the woven basket a little.",
+    "Lift the small pink car with smooth texture, place it into the basket for carrying things, move the basket for carrying things.",
+    "Grab the small pink plastic toycar with one arm, drop the small pink plastic toycar in the basket for carrying things.",
+    "Pick and move the miniature pink car with black wheels, then shift the woven basket.",
+    "Take the pink toycar with rounded corners, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use the left arm to grab the pink toycar shaped like real car, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the toycar made from smooth plastic, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the pink toycar shaped like real car in the brown basket.",
+    "Grab the pink toycar and drop it in the brown basket with woven ridges.",
+    "Pick the pink toycar shaped like real car, drop the pink toycar shaped like real car in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the hand-sized toycar with white roof bars, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the pink toycar with rounded corners, set it into the basket with handle.",
+    "Grab the pink car with purple windows, drop in the basket with handle, and move the basket with handle.",
+    "Pick the pink toycar with rounded corners and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to pick the pink toycar shaped like real car, then use the right arm for the basket with loop handle.",
+    "Lift the pink toycar with rounded corners 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 small toycar for kids play, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Set the small pink car with smooth texture in the basket with loop handle, and shift the basket with loop handle away.",
+    "Place the pink toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Put the small pink car with smooth texture in the basket for holding items, then move the basket for holding items away slightly.",
+    "Take the small toycar for kids play, put the small toycar for kids play into the woven basket, shift the woven basket.",
+    "Pick up the toycar with purple tinted windows and set it inside the basket for carrying things.",
+    "Move the small pink car with smooth texture to the brown basket, then shift the brown basket.",
+    "Use one arm to grab the toycar with rounded compact shape, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick up the toycar with rounded compact shape and drop it in the woven basket, then move the woven basket.",
+    "Grab the small toycar for kids play, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the toycar made from smooth plastic, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the small pink plastic toycar, put it inside the wooden basket with curved handle.",
+    "Place the pink toycar shaped like real car into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the miniature pink car with black wheels, place it in the wooden basket with curved handle.",
+    "Use one arm to place the toycar made from smooth plastic in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the pink toycar shaped like real car in the basket for holding items and pull the basket for holding items away.",
+    "Pick the small pink plastic toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the toycar with rounded compact shape, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Lift the toycar made from smooth plastic, place it into the brown basket, move the brown basket.",
+    "Grab the pink car with purple windows with one arm, drop the pink car with purple windows in the smooth ribbed light brown basket.",
+    "Pick and move the pink toycar shaped like real car, then shift the basket for carrying things.",
+    "Take the pink car with purple windows, set it in the woven basket, shift the woven basket lightly.",
+    "Use the left arm to grab the pink toycar with rounded corners, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the miniature pink car with black wheels, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use one arm to place the toycar with purple tinted windows in the brown basket.",
+    "Grab the small toycar for kids play and drop it in the basket with loop handle.",
+    "Pick the small pink car with smooth texture, drop the small pink car with smooth texture in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the hand-sized toycar with white roof bars, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the small pink car with smooth texture, set it into the brown basket.",
+    "Grab the toycar made from smooth plastic, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the pink toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use the left arm to pick the small pink plastic toycar, then use the right arm for the basket for holding items.",
+    "Lift the hand-sized toycar with white roof bars using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Grab the pink car with purple windows, drop it in the basket for holding items, shift the basket for holding items.",
+    "Set the pink car with purple windows in the basket with handle, and shift the basket with handle away.",
+    "Place the small pink car with smooth texture in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Put the pink toycar shaped like real car in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Take the miniature pink car with black wheels, put the miniature pink car with black wheels into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with purple tinted windows and set it inside the basket made of woven wood.",
+    "Move the toycar made from smooth plastic to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the miniature pink car with black wheels, place it in the woven basket, then move the woven basket.",
+    "Pick up the hand-sized toycar with white roof bars and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the pink toycar shaped like real car, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the miniature pink car with black wheels, drop it in the basket for carrying things, then slightly relocate the basket for carrying things."
+  ],
+  "unseen": [
+    "Pick up the pink toycar with white bumper, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the pink toycar with white bumper to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the pink toycar with white bumper in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the pink toycar with white bumper, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the pink toycar with white bumper in the basket with rounded edges and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the pink toycar with white bumper and drop in the medium basket with smooth texture.",
+    "Pick up the tiny pink car with four wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the pink toycar with white bumper to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the tiny pink car with four wheels in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the pink toycar with white bumper to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and place into the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the pink toycar with white bumper and drop in the basket with rounded edges.",
+    "Pick up the pink toycar with white bumper, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it in the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and place into the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it into the basket with rounded edges.",
+    "Pick up the tiny pink car with four wheels and drop in the basket with rounded edges.",
+    "Pick up the pink toycar with white bumper, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the tiny pink car with four wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the compact toycar with shiny black tires in the basket with rounded edges and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels and place into the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the tiny pink car with four wheels and drop in the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the tiny pink car with four wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the pink toycar with white bumper in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the pink toycar with white bumper and place into the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper and put it into the basket with rounded edges.",
+    "Pick up the tiny pink car with four wheels and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with shiny black tires to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the compact toycar with shiny black tires in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and place into the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it in the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it into the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the tiny pink car with four wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the tiny pink car with four wheels in the basket with rounded edges and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode33.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..5263839b7e54ab94c7a1e718d4ec7332be784c76
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the toycar with black tires, put it inside the basket with handle.",
+    "Grab the toycar for kids play with one arm, drop the toycar for kids play in the basket for carrying things.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the woven basket, shift the woven basket.",
+    "Grab the blue top toycar, drop in the woven basket, and move the woven basket.",
+    "Lift the toycar with smooth texture, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Place the small plastic toycar in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick and move the toycar with shiny wheels, then shift the woven basket.",
+    "Use one arm to place the blue toycar in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick up the blue top toycar and drop it in the brown basket, then move the brown basket.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket with handle, slide the basket with handle lightly.",
+    "Use one arm to grab the blue and gray toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the toycar with smooth texture, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the bright sleek toycar and drop it in the basket with handle.",
+    "Place the blue toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Grab the toycar with black tires, set it into the oval-shaped basket with woven body.",
+    "Put the bright sleek toycar in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Set the blue top toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the toycar with shiny plastic finish, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick the small plastic toycar and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Put the toycar with shiny wheels in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick up the toycar with shiny plastic finish and set it inside the light brown oval basket.",
+    "Grab the toycar with shiny wheels, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Use one arm to place the blue toycar in the woven basket.",
+    "Lift the blue and gray toycar, place it into the basket with handle, move the basket with handle.",
+    "Use the left arm to grab the blue and gray toycar, 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 blue toycar, then use the right arm for the oval-shaped basket with woven body.",
+    "Grab the toycar with smooth texture, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the small plastic toycar, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the bright sleek toycar to the brown basket, then shift the brown basket.",
+    "Lift the toycar with black tires using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Take the toycar with shiny wheels, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Pick the toycar with transparent windshield, place it in the basket for carrying things.",
+    "Pick the toycar with smooth texture, place it in the woven basket, shift the woven basket.",
+    "Pick the toycar for kids play, put it inside the brown basket with woven ridges.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the smooth ribbed light brown basket.",
+    "Take the blue top toycar, put the blue top toycar into the woven basket, shift the woven basket.",
+    "Grab the blue top toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the blue and gray toycar, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Place the blue toycar in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Use one arm to place the toycar with transparent windshield in the woven basket, adjust the woven basket.",
+    "Pick up the blue toycar and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the blue toycar, drop the blue toycar in the brown basket, slide the brown basket lightly.",
+    "Use one arm to grab the blue toycar, place it in the woven basket, then move the woven basket.",
+    "Pick up the blue top toycar, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the toycar with smooth texture and drop it in the basket made of woven wood.",
+    "Place the blue top toycar into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the toycar for kids play, set it into the brown basket with woven ridges.",
+    "Put the toycar for kids play in the woven basket, then move the woven basket away slightly.",
+    "Set the toycar with black tires in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick up the small plastic toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick the toycar with smooth texture and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Put the toycar with smooth texture in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the blue top toycar and set it inside the woven basket.",
+    "Grab the palm-sized blue toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use one arm to place the toycar with shiny plastic finish in the oval-shaped basket with woven body.",
+    "Lift the blue top toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Use the left arm to grab the toycar with shiny plastic finish, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the brown basket with woven ridges.",
+    "Grab the toycar with shiny plastic finish, drop it in the woven basket, shift the woven basket.",
+    "Grab the toycar with smooth texture, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Move the bright sleek toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Take the bright sleek toycar, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick the blue toycar, place it in the wooden basket with curved handle.",
+    "Pick the toycar with transparent windshield, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the toycar with shiny wheels, put it inside the basket for holding items.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket for carrying things.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Grab the blue toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Lift the toycar with shiny plastic finish, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Place the blue and gray toycar in the brown basket, then grab the brown basket.",
+    "Pick and move the toycar for kids play, then shift the smooth ribbed light brown basket.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the blue toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick the bright sleek toycar, drop the bright sleek toycar in the woven basket, slide the woven basket lightly.",
+    "Use one arm to grab the toycar with shiny wheels, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the toycar with black tires, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the palm-sized blue toycar and drop it in the brown basket with woven ridges.",
+    "Place the toycar with shiny plastic finish into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Grab the toycar with shiny wheels, set it into the oval-shaped basket with woven body.",
+    "Put the toycar with smooth texture in the basket with handle, then move the basket with handle away slightly.",
+    "Set the toycar with black tires in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick up the bright sleek toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the blue toycar and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Put the toycar with transparent windshield in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the bright sleek toycar and set it inside the basket with handle.",
+    "Grab the toycar for kids play, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use one arm to place the toycar with smooth texture in the basket for carrying things.",
+    "Lift the toycar with black tires, place it into the woven basket, move the woven basket.",
+    "Use the left arm to grab the toycar with black tires, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use the left arm to pick the bright sleek toycar, then use the right arm for the basket made of woven wood.",
+    "Grab the toycar with black tires, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the blue top toycar, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Move the small plastic toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the palm-sized blue toycar using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Take the toycar with black tires, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the blue and gray toycar, place it in the oval-shaped basket with woven body.",
+    "Pick the blue and gray toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, put it inside the basket with handle."
+  ],
+  "unseen": [
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode34.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..46efd4b4eb83d8eaaa5c9561ee8c111a9d9841f2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small blue car-shaped toycar, set it into the rectangular basket with smooth surface.",
+    "Put the bright blue toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the blue toycar with white windows, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Use the left arm to grab the plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Lift the toycar with smiling face design using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Grab the palm-sized plastic toycar, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the toycar with smiling face design in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the plastic basket, slide the plastic basket lightly.",
+    "Lift the plastic toycar, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick the lightweight toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Grab the lightweight toycar, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the lightweight toycar, then shift the plastic basket.",
+    "Place the toycar for kids into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Move the toycar with smiling face design to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the rectangular yellow basket.",
+    "Use one arm to place the small blue car-shaped toycar in the basket with black handle.",
+    "Pick the palm-sized plastic toycar, put it inside the rectangular basket with smooth surface.",
+    "Lift the small blue car-shaped toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Take the toycar with rounded edges, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Place the blue toycar with white windows in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to grab the glossy blue toycar, place it in the handheld basket, then move the handheld basket.",
+    "Pick the blue toycar with white windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick up the toycar for kids, put it in the handheld basket, shift the handheld basket a little.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with rounded edges and set it inside the basket with black handle.",
+    "Grab the toycar with rounded edges, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Set the lightweight toycar in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Put the lightweight toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the palm-sized plastic toycar and drop it in the yellow basket for carrying stuff.",
+    "Pick up the toycar with rounded edges and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the toycar with black and orange wheels, place it in the yellow basket for carrying stuff.",
+    "Grab the small blue car-shaped toycar, set it into the basket with black handle.",
+    "Put the toycar with rounded edges in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the toycar with black and orange wheels, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Use the left arm to grab the plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Lift the blue toycar with white windows using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Grab the small blue car-shaped toycar, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to place the palm-sized plastic toycar in the yellow basket, adjust the yellow basket.",
+    "Pick the bright blue toycar, drop the bright blue toycar in the handheld basket, slide the handheld basket lightly.",
+    "Lift the small blue car-shaped toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Pick the palm-sized plastic toycar and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Grab the plastic toycar, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick and move the lightweight toycar, then shift the basket with perforated sides.",
+    "Place the plastic toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Move the plastic toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the yellow basket for carrying stuff.",
+    "Use one arm to place the lightweight toycar in the bright yellow basket.",
+    "Pick the small toycar, put it inside the rectangular yellow basket.",
+    "Lift the toycar with black and orange wheels, place it into the handheld basket, move the handheld basket.",
+    "Take the toycar with black and orange wheels, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Use the left arm to pick the plastic toycar, then use the right arm for the handheld basket.",
+    "Grab the small toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Place the toycar for kids in the basket with black handle, then grab the basket with black handle.",
+    "Use one arm to grab the small blue car-shaped toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the small toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the lightweight toycar, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Take the palm-sized plastic toycar, put the palm-sized plastic toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the small toycar and set it inside the basket with arched black grip.",
+    "Grab the bright blue toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Set the palm-sized plastic toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Put the small toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the toycar with smiling face design and drop it in the basket with arched black grip.",
+    "Pick up the blue toycar with white windows and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the small blue car-shaped toycar, place it in the carrying basket with black plastic handle.",
+    "Grab the palm-sized plastic toycar, set it into the handheld basket.",
+    "Put the toycar with rounded edges in the handheld basket and pull the handheld basket away.",
+    "Pick up the glossy blue toycar, place it in the plastic basket, grab the plastic basket.",
+    "Use the left arm to grab the blue toycar with white windows, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Lift the plastic toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Grab the plastic toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Use one arm to place the toycar with smiling face design in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the toycar with smiling face design, drop the toycar with smiling face design in the handheld basket, slide the handheld basket lightly.",
+    "Lift the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Pick the toycar with rounded edges and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Grab the bright blue toycar, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the toycar for kids, then shift the handheld basket.",
+    "Place the small toycar into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Move the palm-sized plastic toycar to the bright yellow basket, then shift the bright yellow basket.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the basket with black handle.",
+    "Use one arm to place the blue toycar with white windows in the carrying basket with black plastic handle.",
+    "Pick the bright blue toycar, put it inside the yellow basket for carrying stuff.",
+    "Lift the small blue car-shaped toycar, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Take the toycar with rounded edges, set it in the plastic basket, shift the plastic basket lightly.",
+    "Use the left arm to pick the glossy blue toycar, then use the right arm for the medium yellow basket with slots.",
+    "Grab the toycar with smiling face design, place it in the basket with black handle, then move the basket with black handle away.",
+    "Place the blue toycar with white windows in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to grab the glossy blue toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the toycar with black and orange wheels, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the glossy blue toycar, put it in the plastic basket, shift the plastic basket a little.",
+    "Take the small blue car-shaped toycar, put the small blue car-shaped toycar into the handheld basket, shift the handheld basket.",
+    "Pick up the bright blue toycar and set it inside the basket with perforated sides.",
+    "Grab the toycar with black and orange wheels, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Set the toycar with rounded edges in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Put the toycar with rounded edges in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Grab the toycar for kids and drop it in the handheld basket.",
+    "Pick up the palm-sized plastic toycar and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the small toycar, place it in the handheld basket.",
+    "Grab the blue toycar with white windows, set it into the rectangular basket with smooth surface."
+  ],
+  "unseen": [
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode35.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd32207936e1198900d0ac0f43581b96dc216095
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the green car-shaped toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the small plastic green toycar, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the shiny green toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the toycar with black wheels, drop the toycar with black wheels in the woven basket, slide the woven basket lightly.",
+    "Pick the green toycar made from plastic and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Place the green toycar into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Grab the green car-shaped toycar, place it in the brown basket, then move the brown basket away.",
+    "Pick up the shiny green toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the green car-shaped toycar, set it into the basket with loop handle.",
+    "Pick and move the playful green toycar, then shift the brown basket.",
+    "Grab the playful green toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Put the small plastic green toycar in the basket for holding items, then move the basket for holding items away slightly.",
+    "Put the smooth green toycar in the light brown oval basket and pull the light brown oval basket away.",
+    "Use the left arm to pick the smooth green toycar, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the tiny green toycar and set it inside the wooden basket with curved handle.",
+    "Take the tiny green toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the playful green toycar, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Take the tiny green toycar, put the tiny green toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the playful green toycar in the basket with handle, adjust the basket with handle.",
+    "Place the toycar with black roof and wheels in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the small green toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Move the green toycar to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the green car-shaped toycar, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the playful green toycar, place it in the basket for holding items.",
+    "Set the smooth green toycar in the basket with handle, and shift the basket with handle away.",
+    "Lift the green toycar made from plastic using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the tiny green toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Use the left arm to grab the playful green toycar, 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 playful green toycar in the basket for holding items.",
+    "Pick the smooth green toycar, put it inside the smooth ribbed light brown basket.",
+    "Use one arm to grab the small green toycar, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the basket with handle.",
+    "Grab the small plastic green toycar and drop it in the smooth ribbed light brown basket.",
+    "Pick up the green toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the miniature bright green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Lift the tiny green toycar, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Pick the toycar with black roof and wheels, drop the toycar with black roof and wheels in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Pick the miniature bright green toycar and position it in the brown basket, move the brown basket slightly.",
+    "Place the playful green toycar into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the smooth green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick up the green car-shaped toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the miniature bright green toycar, set it into the brown basket with woven ridges.",
+    "Pick and move the small plastic green toycar, then shift the woven basket.",
+    "Grab the toycar with black wheels, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the green car-shaped toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the toycar with black wheels in the light brown oval basket and pull the light brown oval basket away.",
+    "Use the left arm to pick the green toycar, then use the right arm for the basket made of woven wood.",
+    "Pick up the tiny green toycar and set it inside the basket made of woven wood.",
+    "Take the smooth green toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the shiny green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the playful green toycar, put the playful green toycar into the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the tiny green toycar in the basket for carrying things, adjust the basket for carrying things.",
+    "Place the green toycar in the brown basket, then grab the brown basket.",
+    "Grab the green toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Move the playful green toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the green toycar, drop it in the woven basket, then move the woven basket.",
+    "Pick the miniature bright green toycar, place it in the wooden basket with curved handle.",
+    "Set the green toycar in the light brown oval basket, and shift the light brown oval basket away.",
+    "Lift the green toycar made from plastic using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the toycar with black wheels, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use the left arm to grab the toycar with black roof and wheels, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to place the smooth green toycar in the basket with handle.",
+    "Pick the green toycar, put it inside the brown basket with woven ridges.",
+    "Use one arm to grab the playful green toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the brown basket.",
+    "Grab the small plastic green toycar and drop it in the brown basket with woven ridges.",
+    "Pick up the playful green toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the tiny green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Lift the playful green toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the shiny green toycar, drop the shiny green toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the playful green toycar and position it in the brown basket, move the brown basket slightly.",
+    "Place the shiny green toycar into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Grab the smooth green toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick up the shiny green toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the toycar with black wheels, set it into the basket with loop handle.",
+    "Pick and move the green car-shaped toycar, then shift the basket with handle.",
+    "Grab the small green toycar, drop it in the brown basket, shift the brown basket.",
+    "Put the small plastic green toycar in the woven basket, then move the woven basket away slightly.",
+    "Put the toycar with black roof and wheels in the basket with loop handle and pull the basket with loop handle away.",
+    "Use the left arm to pick the smooth green toycar, then use the right arm for the brown basket.",
+    "Pick up the green car-shaped toycar and set it inside the basket for holding items.",
+    "Take the small green toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the small green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the tiny green toycar, put the tiny green toycar into the brown basket, shift the brown basket.",
+    "Use one arm to place the playful green toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Place the shiny green toycar in the woven basket, then grab the woven basket.",
+    "Grab the miniature bright green toycar, drop in the basket with handle, and move the basket with handle.",
+    "Move the shiny green toycar to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the toycar with black wheels, drop it in the woven basket, then move the woven basket.",
+    "Pick the miniature bright green toycar, place it in the wooden basket with curved handle.",
+    "Set the toycar with black wheels in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Lift the toycar with black wheels using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Pick up the smooth green toycar, place it in the brown basket, grab the brown basket.",
+    "Use the left arm to grab the playful green toycar, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to place the shiny green toycar in the brown basket with woven ridges.",
+    "Pick the playful green toycar, put it inside the wooden basket with curved handle.",
+    "Use one arm to grab the smooth green toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the wooden basket with curved handle.",
+    "Grab the small green toycar and drop it in the light brown oval basket.",
+    "Pick up the miniature bright green toycar, put it in the woven basket, shift the woven basket a little."
+  ],
+  "unseen": [
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the plastic toycar and drop in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the basket with rounded edges.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the oval basket with medium storage space.",
+    "Move the bright green toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the oval basket with medium storage space.",
+    "Grab the plastic toycar and place into the basket with rounded edges.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded edges in the oval basket with medium storage space and move it.",
+    "Grab the bright green toycar and put it in the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Move the bright green toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Move the plastic toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges and drop in the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode36.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d5d1bc6c6d6d378221e5ad7d8f630e1cc6bffdb
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hand-sized rolling toycar, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the plastic toycar with smooth finish, set it into the basket made of woven wood.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the basket with loop handle, shift the basket with loop handle.",
+    "Pick the kids' toycar in bright blue and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Put the toycar with rounded edges in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the blue toycar with yellow roof accents, drop in the basket with handle, and move the basket with handle.",
+    "Pick the hand-sized rolling toycar, place it in the basket with loop handle.",
+    "Pick and move the hand-sized rolling toycar, then shift the light brown oval basket.",
+    "Take the plastic toycar with smooth finish, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the compact glossy blue toycar, put it inside the basket for holding items.",
+    "Put the hand-sized rolling toycar in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the toycar featuring black and white wheels and set it inside the woven basket.",
+    "Grab the hand-sized rolling toycar and drop it in the basket with loop handle.",
+    "Pick the toycar with black wheels, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the toycar with dark gray windows in the brown basket, adjust the brown basket.",
+    "Lift the kids' toycar in bright blue using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to place the plastic toycar with smooth finish in the woven basket.",
+    "Pick up the small plastic toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the bright blue toycar with roof buttons, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the hand-sized rolling toycar with one arm, drop the hand-sized rolling toycar in the basket for holding items.",
+    "Use the right arm to pick the toycar featuring black and white wheels, then use the left arm for the basket made of woven wood.",
+    "Place the blue toycar with yellow roof accents into the woven basket and push the woven basket slightly away.",
+    "Use the right arm to grab the bright blue toycar with roof buttons, place it in the woven basket, and move the woven basket using the left arm.",
+    "Lift the blue toycar with yellow roof accents, place it into the basket for carrying things, move the basket for carrying things.",
+    "Set the small plastic toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick up the small plastic toycar, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the plastic toycar with smooth finish, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Move the compact glossy blue toycar to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the hand-sized rolling toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Place the hand-sized rolling toycar in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Lift the toycar made of plastic material, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the toycar featuring black and white wheels, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the small plastic toycar, set it into the basket made of woven wood.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the toycar with dark gray windows and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Put the toycar with rounded edges in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the toycar made of plastic material, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the toycar featuring black and white wheels, place it in the basket for holding items.",
+    "Pick and move the toycar with black wheels, then shift the basket with loop handle.",
+    "Take the plastic toycar with smooth finish, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with loop handle.",
+    "Put the toycar made of plastic material in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the kids' toycar in bright blue and set it inside the wooden basket with curved handle.",
+    "Grab the toycar featuring black and white wheels and drop it in the brown basket with woven ridges.",
+    "Pick the toycar with rounded edges, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the toycar featuring black and white wheels in the light brown oval basket, adjust the light brown oval basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use one arm to place the small plastic toycar in the woven basket.",
+    "Pick up the small plastic toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the toycar with black wheels, place it in the basket with handle, then move the basket with handle away.",
+    "Grab the toycar made of plastic material with one arm, drop the toycar made of plastic material in the smooth ribbed light brown basket.",
+    "Use the right arm to pick the kids' toycar in bright blue, then use the left arm for the basket made of woven wood.",
+    "Place the toycar with black wheels into the basket for holding items and push the basket for holding items slightly away.",
+    "Use the right arm to grab the small plastic toycar, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Lift the blue toycar with yellow roof accents, place it into the basket for holding items, move the basket for holding items.",
+    "Set the toycar with dark gray windows in the brown basket, and shift the brown basket away.",
+    "Pick up the toycar with rounded edges, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the toycar featuring black and white wheels, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Move the toycar featuring black and white wheels to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Grab the toycar with dark gray windows, drop it in the basket for holding items, then move the basket for holding items.",
+    "Place the compact glossy blue toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the toycar featuring black and white wheels, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick up the blue toycar with yellow roof accents, put it in the brown basket, shift the brown basket a little.",
+    "Use one arm to grab the kids' toycar in bright blue, place it in the basket with handle, then move the basket with handle.",
+    "Grab the toycar with dark gray windows, set it into the basket made of woven wood.",
+    "Take the bright blue toycar with roof buttons, put the bright blue toycar with roof buttons into the light brown oval basket, shift the light brown oval basket.",
+    "Pick the toycar with black wheels and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Put the bright blue toycar with roof buttons in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the small plastic toycar, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with loop handle.",
+    "Pick and move the plastic toycar with smooth finish, then shift the brown basket.",
+    "Take the compact glossy blue toycar, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the toycar with black wheels, put it inside the basket with loop handle.",
+    "Put the toycar featuring black and white wheels in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the toycar with black wheels and set it inside the basket for carrying things.",
+    "Grab the blue toycar with yellow roof accents and drop it in the oval-shaped basket with woven body.",
+    "Pick the bright blue toycar with roof buttons, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Use one arm to place the kids' toycar in bright blue in the oval-shaped basket with woven body.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the plastic toycar with smooth finish, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the woven basket.",
+    "Use the right arm to pick the toycar with black wheels, then use the left arm for the wooden basket with curved handle.",
+    "Place the bright blue toycar with roof buttons into the basket with handle and push the basket with handle slightly away.",
+    "Use the right arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the left arm.",
+    "Lift the toycar with black wheels, place it into the basket for holding items, move the basket for holding items.",
+    "Set the plastic toycar with smooth finish in the basket with handle, and shift the basket with handle away.",
+    "Pick up the toycar with black wheels, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the blue toycar with yellow roof accents, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the brown basket, slide the brown basket lightly.",
+    "Move the toycar with dark gray windows to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Grab the blue toycar with yellow roof accents, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Place the hand-sized rolling toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the toycar made of plastic material, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick up the toycar with black wheels, put it in the light brown oval basket, shift the light brown oval basket a little."
+  ],
+  "unseen": [
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Move the playable toycar with rolling wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the basket with rounded edges and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the playable toycar with rolling wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the basket with rounded edges.",
+    "Move the playable toycar with rolling wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the oval basket with medium storage space.",
+    "Pick up the playable toycar with rolling wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels and drop in the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode37.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..1731ed84c82dfeb4e489062d46ef3c2123b46fec
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular blue playingcards case into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Put the rectangular blue playingcards case in the basket for holding items, then move the basket for holding items away slightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the brown basket, shift the brown basket.",
+    "Pick the blue playingcards box, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the playingcards box with white symbols, place it in the basket for carrying things.",
+    "Grab the small playingcards container, drop it in the brown basket, shift the brown basket.",
+    "Grab the blue carton for playingcards, drop in the woven basket, and move the woven basket.",
+    "Lift the blue carton for playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the basket for holding items, then move the basket for holding items.",
+    "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 carton for playingcards to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Set the smooth playingcards holder in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the blue playingcards box, put it inside the smooth ribbed light brown basket.",
+    "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 up the blue playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick and move the blue carton for playingcards, then shift the basket with handle.",
+    "Grab the blue carton for playingcards and drop it in the oval-shaped basket with woven body.",
+    "Use one arm to place the small playingcards container in the basket with handle, adjust the basket with handle.",
+    "Grab the box of playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick up the blue pack holding playingcards and set it inside the basket made of woven wood.",
+    "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.",
+    "Lift the small playingcards container using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Take the box of playingcards, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue carton for playingcards, set it into the woven basket.",
+    "Pick up the playingcards pack with blue top and drop it in the brown basket, then move the brown basket.",
+    "Pick up the box of playingcards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the blue carton for playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the smooth ribbed light brown basket.",
+    "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 blue carton for playingcards in the basket with handle.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket for holding items.",
+    "Place the blue playingcards box into the basket for holding items and push the basket for holding items slightly away.",
+    "Put the playingcards box with white symbols in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for holding items, shift the basket for holding items.",
+    "Pick the small playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Grab the blue carton for playingcards, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the palm-sized playingcards carton, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to grab the blue playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the blue and white playingcards packaging to the light brown oval basket, then shift the light brown oval basket.",
+    "Set the rectangular blue playingcards case in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the playingcards pack with blue top, put it inside the basket for holding items.",
+    "Lift the small playingcards container, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the small playingcards container, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick and move the playingcards pack with blue top, then shift the brown basket with woven ridges.",
+    "Grab the blue playingcards box and drop it in the brown 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.",
+    "Grab the rectangular blue playingcards case, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the small playingcards container and set it inside the basket with loop handle.",
+    "Use the left arm to grab the blue playingcards box, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Take the smooth playingcards holder, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Grab the playingcards pack with blue top, set it into the 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.",
+    "Pick up the blue and white playingcards packaging, put it in the brown basket, shift the brown basket a little.",
+    "Pick the smooth playingcards holder and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Place the smooth playingcards holder in the basket for carrying things, then grab the basket for carrying things.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the brown basket.",
+    "Put the blue playingcards box in the woven basket and pull the woven basket away.",
+    "Use one arm to place the blue carton for playingcards in the brown basket.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the brown basket.",
+    "Place the blue pack holding playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Put the blue and white playingcards packaging in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the playingcards box with white symbols, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the playingcards pack with blue top, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the smooth playingcards holder, place it into the brown basket, move the brown basket.",
+    "Grab the blue carton for playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to grab the box of playingcards, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Move the playingcards pack with blue top to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Set the playingcards pack with blue top in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick the blue pack holding playingcards, put it inside the basket with loop handle.",
+    "Lift the blue pack holding playingcards, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick up the rectangular blue playingcards case, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick and move the smooth playingcards holder, then shift the woven basket.",
+    "Grab the palm-sized playingcards carton and drop it in the basket made of woven wood.",
+    "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.",
+    "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.",
+    "Pick up the small playingcards container and set it inside the smooth ribbed light brown basket.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the palm-sized playingcards carton, set it into the smooth ribbed light brown basket.",
+    "Pick up the blue playingcards box and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the small playingcards container, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Place the small playingcards container in the basket with handle, then grab the basket with handle.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the brown basket.",
+    "Put the card box with golden designs in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Use one arm to place the rectangular blue playingcards case in the basket made of woven wood.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the brown basket.",
+    "Place the small playingcards container into the basket made of woven wood and push the basket made of woven wood slightly away."
+  ],
+  "unseen": [
+    "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.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "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 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 basket with rounded edges, move 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.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the 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 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 basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop 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 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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the 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 pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the 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 rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the 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.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, 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 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.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards 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 oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "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.",
+    "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 pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Place the 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.",
+    "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 oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the 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, 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 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode38.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..30cf55267478f7caa74b57e7d8d251f199bd2b7b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the rectangular basket with smooth surface.",
+    "Grab the black playing cards box, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use one arm to grab the smooth black cards container, place it in the yellow basket, then move the yellow basket.",
+    "Pick the box with cards inside, drop the box with cards inside in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Use one arm to place the rectangular box for card storage in the yellow basket for carrying stuff.",
+    "Use the left arm to grab the black playing cards box, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Grab the cardboard playing cards box, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Grab the cardboard playing cards box, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick the box holding playing cards, place it in the handheld basket.",
+    "Put the compact box for playing cards in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Lift the small black box with cards using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Set the black box with rectangular shape in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick the compact box for playing cards, put it inside the plastic basket.",
+    "Use one arm to place the rectangular box for card storage in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Place the small black box with cards into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the box holding playing cards with one arm, drop the box holding playing cards in the plastic basket.",
+    "Grab the small black box with cards and drop it in the medium yellow basket with slots.",
+    "Grab the palm-sized box for playing cards, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the palm-sized box for playing cards, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Put the black playing cards box in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Move the rectangular box for card storage to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the playing cards box with gold text and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Lift the playing cards box with gold text, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Take the black box with rectangular shape, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick and move the rectangle-shaped cards box, then shift the rectangular basket with smooth surface.",
+    "Place the palm-sized box for playing cards in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the cardboard playing cards box and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the smooth black cards container and set it inside the medium yellow basket with slots.",
+    "Take the small black box with cards, put the small black box with cards into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the cardboard playing cards box, set it into the basket with black handle.",
+    "Lift the cardboard playing cards box, place it into the yellow basket for carrying stuff, move the yellow basket for carrying stuff.",
+    "Pick up the rectangle-shaped cards box, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the palm-sized box for playing cards, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Use the left arm to pick the box holding playing cards, then use the right arm for the handheld basket.",
+    "Grab the black box with rectangular shape, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use one arm to grab the palm-sized box for playing cards, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick the rectangle-shaped cards box, drop the rectangle-shaped cards box in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Use one arm to place the box holding playing cards in the carrying basket with black plastic handle.",
+    "Use the left arm to grab the compact box for playing cards, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Grab the playing cards box with gold text, drop in the plastic basket, and move the plastic basket.",
+    "Grab the rectangular box for card storage, drop it in the yellow basket, shift the yellow basket.",
+    "Pick the black box with rectangular shape, place it in the basket with arched black grip.",
+    "Put the box holding playing cards in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Lift the black playing cards box using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Set the smooth black cards container in the plastic basket, and shift the plastic basket away.",
+    "Pick the black playing cards box, put it inside the basket with black handle.",
+    "Use one arm to place the black box with rectangular shape in the bright yellow basket, adjust the bright yellow basket.",
+    "Place the smooth black cards container into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the yellow basket.",
+    "Grab the small black box with cards and drop it in the yellow basket for carrying stuff.",
+    "Grab the box with cards inside, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the palm-sized box for playing cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the box with cards inside in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Move the playing cards box with gold text to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the rectangle-shaped cards box and position it in the plastic basket, move the plastic basket slightly.",
+    "Lift the rectangle-shaped cards box, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Take the playing cards box with gold text, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick and move the box holding playing cards, then shift the yellow basket.",
+    "Place the black playing cards box in the yellow basket, then grab the yellow basket.",
+    "Pick up the cardboard playing cards box and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick up the black playing cards box and set it inside the rectangular yellow basket.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the basket with black handle, shift the basket with black handle.",
+    "Grab the compact box for playing cards, set it into the rectangular yellow basket.",
+    "Lift the black playing cards box, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Pick up the small black box with cards, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick up the rectangle-shaped cards box, put it in the handheld basket, shift the handheld basket a little.",
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the handheld basket.",
+    "Grab the palm-sized box for playing cards, place it in the basket with black handle, then move the basket with black handle away.",
+    "Use one arm to grab the black playing cards box, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the black box with rectangular shape, drop the black box with rectangular shape in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Use one arm to place the smooth black cards container in the basket with perforated sides.",
+    "Use the left arm to grab the compact box for playing cards, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the right arm.",
+    "Grab the smooth black cards container, drop in the handheld basket, and move the handheld basket.",
+    "Grab the cardboard playing cards box, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick the black box with rectangular shape, place it in the bright yellow basket.",
+    "Put the box with cards inside in the plastic basket, then move the plastic basket away slightly.",
+    "Lift the smooth black cards container using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Set the box holding playing cards in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Pick the smooth black cards container, put it inside the plastic basket.",
+    "Use one arm to place the palm-sized box for playing cards in the handheld basket, adjust the handheld basket.",
+    "Place the palm-sized box for playing cards into the basket with black handle and push the basket with black handle slightly away.",
+    "Grab the black box with rectangular shape with one arm, drop the black box with rectangular shape in the basket with perforated sides.",
+    "Grab the playing cards box with gold text and drop it in the medium yellow basket with slots.",
+    "Grab the small black box with cards, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the palm-sized box for playing cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the palm-sized box for playing cards in the yellow basket and pull the yellow basket away.",
+    "Move the box with cards inside to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the black playing cards box and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Lift the small black box with cards, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Take the small black box with cards, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Pick and move the compact box for playing cards, then shift the bright yellow basket.",
+    "Place the rectangular box for card storage in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the small black box with cards and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the smooth black cards container and set it inside the basket with arched black grip.",
+    "Take the black playing cards box, put the black playing cards box into the bright yellow basket, shift the bright yellow basket.",
+    "Grab the smooth black cards container, set it into the handheld basket.",
+    "Lift the box holding playing cards, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Pick up the small black box with cards, place it in the handheld basket, grab the handheld basket.",
+    "Pick up the box holding playing cards, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the bright yellow basket."
+  ],
+  "unseen": [
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode39.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f5aac695e2dd3fe07f6c17dcb0b47b038049d76
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the box holding playing cards in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Put the box holding playing cards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Pick the black box with rectangular shape and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick up the box with cards inside and set it inside the smooth ribbed light brown basket.",
+    "Grab the small black box with cards and drop it in the light brown oval basket.",
+    "Lift the rectangular box for card storage, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Put the rectangular box for card storage in the light brown oval basket and pull the light brown oval basket away.",
+    "Lift the smooth black cards container using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the smooth black cards container, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick up the black box with rectangular shape and drop it in the woven basket, then move the woven basket.",
+    "Pick up the black box with rectangular shape, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Use one arm to grab the box holding playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the smooth black cards container with one arm, drop the smooth black cards container in the basket for carrying things.",
+    "Place the rectangle-shaped cards box into the brown basket and push the brown basket slightly away.",
+    "Place the black playing cards box in the light brown oval basket, then grab the light brown oval basket.",
+    "Take the playing cards box with gold text, put the playing cards box with gold text into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the palm-sized box for playing cards in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the playing cards box with gold text, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the compact box for playing cards, put it inside the woven basket.",
+    "Pick the small black box with cards, place it in the woven basket.",
+    "Pick and move the box holding playing cards, then shift the basket made of woven wood.",
+    "Grab the palm-sized box for playing cards, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Grab the smooth black cards container, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Take the small black box with cards, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the small black box with cards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Grab the cardboard playing cards box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to grab the smooth black cards container, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the compact box for playing cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use the left arm to pick the small black box with cards, then use the right arm for the oval-shaped basket with woven body.",
+    "Move the small black box with cards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the small black box with cards, set it into the light brown oval basket.",
+    "Use one arm to place the small black box with cards in the smooth ribbed light brown basket.",
+    "Set the rectangle-shaped cards box in the brown basket, and shift the brown basket away.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Put the rectangular box for card storage in the woven basket, then move the woven basket away slightly.",
+    "Pick the rectangular box for card storage and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick up the small black box with cards and set it inside the light brown oval basket.",
+    "Grab the black box with rectangular shape and drop it in the light brown oval basket.",
+    "Lift the black box with rectangular shape, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Put the rectangle-shaped cards box in the woven basket and pull the woven basket away.",
+    "Lift the black box with rectangular shape 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.",
+    "Lift the smooth black cards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the playing cards box with gold text and drop it in the woven basket, then move the woven basket.",
+    "Pick up the rectangular box for card storage, place it in the woven basket, grab the woven basket.",
+    "Use one arm to grab the rectangular box for card storage, place it in the brown basket, then move the brown basket.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the brown basket with woven ridges.",
+    "Place the cardboard playing cards box into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Place the palm-sized box for playing cards in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Take the black playing cards box, put the black playing cards box into the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the box holding playing cards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the small black box with cards, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the compact box for playing cards, put it inside the basket made of woven wood.",
+    "Pick the compact box for playing cards, place it in the light brown oval basket.",
+    "Pick and move the box holding playing cards, then shift the wooden basket with curved handle.",
+    "Grab the rectangle-shaped cards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the black box with rectangular shape, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Take the box holding playing cards, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick up the black playing cards box, put it in the woven basket, shift the woven basket a little.",
+    "Grab the box with cards inside, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use the left arm to grab the smooth black cards container, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the cardboard playing cards box, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use the left arm to pick the rectangular box for card storage, then use the right arm for the basket for holding items.",
+    "Move the black box with rectangular shape to the basket for carrying things, then shift the basket for carrying things.",
+    "Grab the cardboard playing cards box, set it into the brown basket.",
+    "Use one arm to place the box with cards inside in the wooden basket with curved handle.",
+    "Set the black playing cards box in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the playing cards box with gold text, drop the playing cards box with gold text in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Put the smooth black cards container in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Pick the small black box with cards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the box holding playing cards and set it inside the wooden basket with curved handle.",
+    "Grab the rectangular box for card storage and drop it in the basket with handle.",
+    "Lift the smooth black cards container, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Put the cardboard playing cards box in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Lift the playing cards box with gold text using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Lift the black box with rectangular shape, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the playing cards box with gold text and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the playing cards box with gold text, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Use one arm to grab the compact box for playing cards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the smooth black cards container with one arm, drop the smooth black cards container in the woven basket.",
+    "Place the compact box for playing cards into the basket with handle and push the basket with handle slightly away.",
+    "Place the rectangular box for card storage in the light brown oval basket, then grab the light brown oval basket.",
+    "Take the smooth black cards container, put the smooth black cards container into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the black playing cards box in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the playing cards box with gold text, place it in the woven basket, shift the woven basket.",
+    "Pick the rectangular box for card storage, put it inside the brown basket.",
+    "Pick the box with cards inside, place it in the brown basket with woven ridges.",
+    "Pick and move the black playing cards box, then shift the light brown oval basket.",
+    "Grab the rectangular box for card storage, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the palm-sized box for playing cards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Take the box with cards inside, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the compact box for playing cards, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Grab the compact box for playing cards, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to grab the palm-sized box for playing cards, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Grab the small black box with cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the smooth ribbed light brown basket.",
+    "Move the box with cards inside to the light brown oval basket, then shift the light brown oval basket.",
+    "Grab the palm-sized box for playing cards, set it into the oval-shaped basket with woven body.",
+    "Use one arm to place the cardboard playing cards box in the basket with handle.",
+    "Set the palm-sized box for playing cards in the basket made of woven wood, and shift the basket made of woven wood away."
+  ],
+  "unseen": [
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and put it into the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the gold text on playing cards box in the oval basket with medium storage space and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Grab the gold text on playing cards box and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode4.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..989987f5791487e604d9491798b9d392f68e99e6
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bright sleek toycar to the light brown oval basket, then shift the light brown oval basket.",
+    "Use one arm to place the toycar with smooth texture in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick and move the toycar with shiny plastic finish, then shift the basket with handle.",
+    "Pick up the palm-sized blue toycar and set it inside the basket for carrying things.",
+    "Take the bright sleek toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Grab the toycar with black tires, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the toycar with shiny wheels in the woven basket.",
+    "Use the right arm to pick the blue and gray toycar, then use the left arm for the wooden basket with curved handle.",
+    "Pick the small plastic toycar, put it inside the brown basket.",
+    "Grab the toycar with transparent windshield, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the blue and gray toycar, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the toycar with shiny wheels, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Place the toycar with black tires into the basket with handle and push the basket with handle slightly away.",
+    "Lift the toycar with smooth texture, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket for carrying things.",
+    "Grab the toycar with smooth texture and drop it in the brown basket.",
+    "Set the toycar with shiny wheels in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the palm-sized blue toycar, set it into the oval-shaped basket with woven body.",
+    "Put the blue top toycar in the brown basket and pull the brown basket away.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick the toycar with black tires, place it in the woven basket.",
+    "Lift the toycar for kids play, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the small plastic toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the blue toycar, drop it in the brown basket, shift the brown basket.",
+    "Use the right arm to grab the blue top toycar, place it in the brown basket, and move the brown basket using the left arm.",
+    "Put the toycar for kids play in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Lift the blue top toycar using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick up the blue toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the toycar with transparent windshield, put the toycar with transparent windshield into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the blue top toycar in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick up the palm-sized blue toycar, put it in the brown basket, shift the brown basket a little.",
+    "Pick the toycar for kids play, place it in the basket with handle, shift the basket with handle.",
+    "Move the toycar with black tires to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Use one arm to place the toycar with black tires in the basket for holding items, adjust the basket for holding items.",
+    "Pick and move the blue top toycar, then shift the basket for carrying things.",
+    "Pick up the toycar with shiny wheels and set it inside the oval-shaped basket with woven body.",
+    "Take the toycar for kids play, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the toycar with transparent windshield, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the toycar with black tires in the oval-shaped basket with woven body.",
+    "Use the right arm to pick the blue top toycar, then use the left arm for the basket with handle.",
+    "Pick the toycar with black tires, put it inside the basket for holding items.",
+    "Grab the toycar with smooth texture, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the blue and gray toycar, place it in the basket for holding items, grab the basket for holding items.",
+    "Grab the small plastic toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Place the toycar with shiny plastic finish into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Lift the small plastic toycar, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the basket for holding items.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Set the blue top toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue top toycar, set it into the basket for holding items.",
+    "Put the palm-sized blue toycar in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick the blue toycar, drop the blue toycar in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Pick the blue toycar, place it in the basket for holding items.",
+    "Lift the blue top toycar, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Use one arm to grab the small plastic toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with shiny wheels and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Grab the small plastic toycar, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Use the right arm to grab the toycar with shiny plastic finish, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Put the toycar with transparent windshield in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Lift the toycar with shiny wheels using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Pick up the palm-sized blue toycar and drop it in the brown basket, then move the brown basket.",
+    "Take the toycar with smooth texture, put the toycar with smooth texture into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the toycar for kids play in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the blue and gray toycar, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the toycar with shiny plastic finish, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Move the toycar with shiny plastic finish to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use one arm to place the toycar with smooth texture in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick and move the toycar with shiny plastic finish, then shift the brown basket with woven ridges.",
+    "Pick up the blue toycar and set it inside the wooden basket with curved handle.",
+    "Take the blue top toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the blue and gray toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the blue toycar in the basket with handle.",
+    "Use the right arm to pick the small plastic toycar, then use the left arm for the basket for carrying things.",
+    "Pick the toycar with shiny plastic finish, put it inside the wooden basket with curved handle.",
+    "Grab the toycar with smooth texture, place it in the brown basket, then move the brown basket away.",
+    "Pick up the toycar with transparent windshield, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the blue toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Place the toycar with transparent windshield into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Lift the bright sleek toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the basket with loop handle.",
+    "Grab the toycar for kids play and drop it in the basket with loop handle.",
+    "Set the bright sleek toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue top toycar, set it into the basket made of woven wood.",
+    "Put the blue top toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick the blue top toycar, place it in the basket with handle.",
+    "Lift the small plastic toycar, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use one arm to grab the toycar with shiny wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the blue and gray toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the bright sleek toycar, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Use the right arm to grab the toycar for kids play, place it in the woven basket, and move the woven basket using the left arm.",
+    "Put the toycar with shiny wheels in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick up the bright sleek toycar and drop it in the brown basket, then move the brown basket.",
+    "Take the toycar with shiny wheels, put the toycar with shiny wheels into the basket with loop handle, shift the basket with loop handle.",
+    "Place the toycar with shiny wheels in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the bright sleek toycar, put it in the brown basket, shift the brown basket a little.",
+    "Pick the palm-sized blue toycar, place it in the brown basket, shift the brown basket.",
+    "Move the toycar with smooth texture to the brown basket with woven ridges, then shift the brown basket with woven ridges."
+  ],
+  "unseen": [
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode40.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e5bd186e1cea26a924e23eabe28093004221596
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the palm-sized blue toycar in the medium yellow basket with slots.",
+    "Move the toycar with shiny plastic finish to the plastic basket, then shift the plastic basket.",
+    "Grab the palm-sized blue toycar and drop it in the yellow basket.",
+    "Lift the blue toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the toycar with shiny wheels and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the palm-sized blue toycar, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the blue toycar, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with smooth texture, put it inside the plastic basket.",
+    "Grab the toycar with smooth texture, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with shiny wheels and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the toycar with shiny wheels, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick and move the blue toycar, then shift the bright yellow basket.",
+    "Lift the toycar with shiny plastic finish, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, place it in the plastic basket.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the medium yellow basket with slots.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the palm-sized blue toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Set the bright sleek toycar in the basket with black handle, and shift the basket with black handle away.",
+    "Use the left arm to grab the bright sleek toycar, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Put the toycar with black tires in the plastic basket and pull the plastic basket away.",
+    "Lift the blue and gray toycar using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Put the blue top toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Take the blue toycar, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Take the toycar with shiny plastic finish, put the toycar with shiny plastic finish into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket with perforated sides.",
+    "Grab the palm-sized blue toycar, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the bright sleek toycar and set it inside the yellow basket for carrying stuff.",
+    "Place the toycar with shiny plastic finish into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Use one arm to place the toycar for kids play in the plastic basket, adjust the plastic basket.",
+    "Place the blue and gray toycar in the basket with black handle, then grab the basket with black handle.",
+    "Pick up the palm-sized blue toycar, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Grab the palm-sized blue toycar, set it into the bright yellow basket.",
+    "Use one arm to place the toycar with black tires in the basket with perforated sides.",
+    "Move the toycar with black tires to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Grab the blue toycar and drop it in the yellow basket.",
+    "Lift the blue top toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the bright sleek toycar and position it in the basket with black handle, move the basket with black handle slightly.",
+    "Grab the toycar with black tires, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the toycar with transparent windshield, drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the toycar with black tires, put it inside the basket with black handle.",
+    "Grab the toycar for kids play, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the toycar with transparent windshield and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with smooth texture, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick and move the toycar with shiny wheels, then shift the rectangular basket with smooth surface.",
+    "Lift the bright sleek toycar, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the toycar with transparent windshield, place it in the basket with perforated sides.",
+    "Use the left arm to pick the palm-sized blue toycar, then use the right arm for the medium yellow basket with slots.",
+    "Use one arm to grab the blue top toycar, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the blue top toycar, place it in the plastic basket, grab the plastic basket.",
+    "Set the palm-sized blue toycar in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Use the left arm to grab the bright sleek toycar, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Put the small plastic toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Lift the blue top toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Put the toycar with transparent windshield in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Take the toycar with smooth texture, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the toycar with shiny plastic finish, drop the toycar with shiny plastic finish in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket with perforated sides.",
+    "Grab the blue top toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick up the blue toycar and set it inside the rectangular yellow basket.",
+    "Place the toycar with black tires into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Use one arm to place the bright sleek toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Place the palm-sized blue toycar in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the small plastic toycar, put it in the basket with black handle, shift the basket with black handle a little.",
+    "Grab the small plastic toycar, set it into the handheld basket.",
+    "Use one arm to place the bright sleek toycar in the rectangular yellow basket.",
+    "Move the toycar with black tires to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar with shiny wheels and drop it in the rectangular basket with smooth surface.",
+    "Lift the bright sleek toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the small plastic toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Grab the blue top toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Grab the toycar with shiny plastic finish, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with shiny wheels, put it inside the basket with black handle.",
+    "Grab the toycar with transparent windshield, drop it in the handheld basket, shift the handheld basket.",
+    "Pick up the toycar with transparent windshield and drop it in the plastic basket, then move the plastic basket.",
+    "Pick the bright sleek toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick and move the toycar for kids play, then shift the basket with arched black grip.",
+    "Lift the toycar with black tires, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick the palm-sized blue toycar, place it in the medium yellow basket with slots.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket with arched black grip.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the bright sleek toycar, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Set the blue and gray toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Use the left arm to grab the palm-sized blue toycar, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Put the toycar with shiny plastic finish in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the toycar for kids play using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Put the toycar for kids play in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Take the palm-sized blue toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the blue and gray toycar, drop the blue and gray toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Grab the toycar with transparent windshield with one arm, drop the toycar with transparent windshield in the basket with arched black grip.",
+    "Grab the toycar with smooth texture, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick up the bright sleek toycar and set it inside the basket with arched black grip.",
+    "Place the toycar with transparent windshield into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Use one arm to place the toycar with shiny plastic finish in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Place the bright sleek toycar in the yellow basket, then grab the yellow basket.",
+    "Pick up the toycar with black tires, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the toycar for kids play, set it into the handheld basket.",
+    "Use one arm to place the toycar with transparent windshield in the basket with perforated sides."
+  ],
+  "unseen": [
+    "Grab the gray base toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the compact toycar with rotating wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the gray base toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with rounded body and place into the medium-sized basket with perforated texture.",
+    "Place the compact toycar with rotating wheels in the yellow basket with open slots and move it.",
+    "Move the toycar with rounded body to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gray base toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow basket with open slots.",
+    "Grab the gray base toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with rounded body to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar and place into the yellow basket with open slots.",
+    "Place the compact toycar with rotating wheels in the yellow basket with open slots and move it.",
+    "Move the compact toycar with rotating wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow basket with open slots.",
+    "Grab the gray base toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with rounded body to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow basket with open slots.",
+    "Pick up the gray base toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the gray base toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and place into the yellow basket with open slots.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gray base toycar and drop in the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it in the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it into the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and place into the medium-sized basket with perforated texture.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the compact toycar with rotating wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and place into the yellow basket with open slots.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the compact toycar with rotating wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode41.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18f124ba43eff67f3faeeb0c223cd0bce85e8dc
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the toycar with smooth texture, place it in the brown basket, grab the brown basket.",
+    "Pick and move the toycar with smooth texture, then shift the brown basket with woven ridges.",
+    "Move the blue toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use the left arm to pick the toycar with shiny plastic finish, then use the right arm for the oval-shaped basket with woven body.",
+    "Put the toycar with shiny wheels in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the toycar with transparent windshield, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the toycar with shiny wheels, place it in the brown basket, then move the brown basket away.",
+    "Pick up the small plastic toycar and set it inside the brown basket.",
+    "Take the blue top toycar, put the blue top toycar into the light brown oval basket, shift the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Set the toycar for kids play in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Put the blue toycar in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the woven basket.",
+    "Pick the palm-sized blue toycar, place it in the light brown oval basket.",
+    "Take the blue and gray toycar, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Grab the toycar with shiny wheels, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the blue toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the bright sleek toycar into the woven basket and push the woven basket slightly away.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the woven basket, then move the woven basket.",
+    "Use one arm to place the blue toycar in the basket for holding items.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Lift the toycar with smooth texture, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick the toycar with black tires 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 toycar with smooth texture, place it in the woven basket, and move the woven basket using the right arm.",
+    "Grab the toycar with smooth texture, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the toycar for kids play, set it into the basket made of woven wood.",
+    "Place the toycar with black tires in the basket with handle, then grab the basket with handle.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Lift the small plastic toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the bright sleek toycar, put it inside the brown basket.",
+    "Pick up the toycar with smooth texture and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish, place it in the woven basket, grab the woven basket.",
+    "Pick and move the palm-sized blue toycar, then shift the wooden basket with curved handle.",
+    "Move the toycar for kids play to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the basket made of woven wood.",
+    "Put the toycar for kids play in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the toycar with shiny plastic finish, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the toycar with shiny plastic finish, place it in the woven basket, then move the woven basket away.",
+    "Pick up the toycar with shiny plastic finish and set it inside the basket with loop handle.",
+    "Take the toycar with shiny wheels, put the toycar with shiny wheels into the woven basket, shift the woven basket.",
+    "Grab the toycar with shiny plastic finish, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Set the toycar with black tires in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Put the small plastic toycar in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the toycar for kids play and drop it in the brown basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the basket with loop handle.",
+    "Pick the blue and gray toycar, place it in the smooth ribbed light brown basket.",
+    "Take the toycar with smooth texture, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the blue and gray toycar, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the blue top toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to grab the blue toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to place the toycar with smooth texture in the basket for holding items.",
+    "Lift the small plastic toycar 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.",
+    "Lift the toycar with shiny plastic finish, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick the small plastic toycar and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Use the left arm to grab the blue top toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Grab the toycar with shiny wheels, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the small plastic toycar, drop the small plastic toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the small plastic toycar, set it into the oval-shaped basket with woven body.",
+    "Place the toycar with shiny plastic finish in the brown basket, then grab the brown basket.",
+    "Use one arm to place the palm-sized blue toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Lift the toycar with black tires, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick the blue top toycar, put it inside the brown basket.",
+    "Pick up the toycar with transparent windshield and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the blue and gray toycar, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Move the palm-sized blue toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use the left arm to pick the small plastic toycar, then use the right arm for the light brown oval basket.",
+    "Put the blue and gray toycar in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick up the bright sleek toycar, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Grab the blue top toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Pick up the small plastic toycar and set it inside the basket made of woven wood.",
+    "Take the toycar with shiny plastic finish, put the toycar with shiny plastic finish into the woven basket, shift the woven basket.",
+    "Grab the bright sleek toycar, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Set the small plastic toycar in the brown basket, and shift the brown basket away.",
+    "Put the palm-sized blue toycar in the woven basket, then move the woven basket away slightly.",
+    "Grab the bright sleek toycar and drop it in the basket with loop handle.",
+    "Grab the bright sleek toycar with one arm, drop the bright sleek toycar in the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, place it in the light brown oval basket.",
+    "Take the blue and gray toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Grab the blue top toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Pick the palm-sized blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the palm-sized blue toycar into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Use one arm to grab the blue top toycar, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Use one arm to place the toycar with smooth texture in the basket made of woven wood.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Lift the toycar with black tires, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick the toycar with shiny plastic finish and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to grab the blue top toycar, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the toycar with smooth texture, drop in the woven basket, and move the woven basket.",
+    "Pick the blue toycar, drop the blue toycar in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the blue toycar, set it into the basket for carrying things.",
+    "Place the toycar with shiny wheels in the light brown oval basket, then grab the light brown oval basket.",
+    "Use one arm to place the toycar with transparent windshield in the basket for holding items, adjust the basket for holding items.",
+    "Lift the blue toycar, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick the toycar with shiny plastic finish, put it inside the basket with loop handle.",
+    "Pick up the blue top toycar and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the toycar with shiny wheels, place it in the woven basket, grab the woven basket."
+  ],
+  "unseen": [
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode42.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c20edd3358edc510f8c67933edcdfff2c09b31
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the toycar with black and orange wheels in the bright yellow basket.",
+    "Grab the toycar for kids, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the lightweight toycar, place it in the plastic basket, then move the plastic basket away.",
+    "Put the glossy blue toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Take the toycar with black and orange wheels, put the toycar with black and orange wheels into the handheld basket, shift the handheld basket.",
+    "Grab the lightweight toycar and drop it in the bright yellow basket.",
+    "Grab the lightweight toycar with one arm, drop the lightweight toycar in the rectangular basket with smooth surface.",
+    "Place the small blue car-shaped toycar in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick the toycar with smiling face design and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Use the right arm to pick the small toycar, then use the left arm for the handheld basket.",
+    "Move the palm-sized plastic toycar to the plastic basket, then shift the plastic basket.",
+    "Grab the small toycar, drop in the plastic basket, and move the plastic basket.",
+    "Pick the toycar for kids, place it in the rectangular basket with smooth surface.",
+    "Set the lightweight toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Use the right arm to grab the glossy blue toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Take the toycar with black and orange wheels, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the toycar with black and orange wheels, put it inside the rectangular basket with smooth surface.",
+    "Use one arm to place the glossy blue toycar in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Pick and move the toycar with black and orange wheels, then shift the medium yellow basket with slots.",
+    "Grab the toycar for kids, set it into the basket with black handle.",
+    "Lift the small blue car-shaped toycar using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Pick up the lightweight toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick up the palm-sized plastic toycar and set it inside the basket with black handle.",
+    "Pick the small blue car-shaped toycar, drop the small blue car-shaped toycar in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Lift the lightweight toycar, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Pick up the lightweight toycar and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the palm-sized plastic toycar, place it in the yellow basket, shift the yellow basket.",
+    "Grab the palm-sized plastic toycar, drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to grab the bright blue toycar, place it in the yellow basket, then move the yellow basket.",
+    "Lift the toycar with smiling face design, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Put the bright blue toycar in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Place the glossy blue toycar into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the plastic toycar, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Use one arm to place the small toycar in the rectangular yellow basket.",
+    "Grab the toycar for kids, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the blue toycar with white windows, place it in the plastic basket, then move the plastic basket away.",
+    "Put the small blue car-shaped toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the glossy blue toycar and drop it in the medium yellow basket with slots.",
+    "Grab the blue toycar with white windows with one arm, drop the blue toycar with white windows in the carrying basket with black plastic handle.",
+    "Place the small blue car-shaped toycar in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick the glossy blue toycar and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Use the right arm to pick the bright blue toycar, then use the left arm for the rectangular yellow basket.",
+    "Move the lightweight toycar to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the toycar with black and orange wheels, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff.",
+    "Pick the toycar for kids, place it in the basket with black handle.",
+    "Set the blue toycar with white windows in the handheld basket, and shift the handheld basket away.",
+    "Use the right arm to grab the glossy blue toycar, place it in the basket with perforated sides, and move the basket with perforated sides using the left arm.",
+    "Take the lightweight toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick the blue toycar with white windows, put it inside the basket with arched black grip.",
+    "Use one arm to place the glossy blue toycar in the plastic basket, adjust the plastic basket.",
+    "Pick and move the toycar with rounded edges, then shift the yellow basket for carrying stuff.",
+    "Grab the toycar for kids, set it into the rectangular yellow basket.",
+    "Lift the plastic toycar using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Pick up the glossy blue toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick up the glossy blue toycar and set it inside the plastic basket.",
+    "Pick the bright blue toycar, drop the bright blue toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the bright blue toycar, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick up the small blue car-shaped toycar and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the toycar with smiling face design, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the lightweight toycar, drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use one arm to grab the blue toycar with white windows, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the toycar with rounded edges, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Put the plastic toycar in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Place the plastic toycar into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Pick up the toycar with black and orange wheels, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Use one arm to place the small toycar in the basket with perforated sides.",
+    "Grab the plastic toycar, drop it in the basket with black handle, shift the basket with black handle.",
+    "Grab the toycar with rounded edges, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Put the small toycar in the plastic basket and pull the plastic basket away.",
+    "Take the small toycar, put the small toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the glossy blue toycar and drop it in the yellow basket for carrying stuff.",
+    "Grab the palm-sized plastic toycar with one arm, drop the palm-sized plastic toycar in the bright yellow basket.",
+    "Place the blue toycar with white windows in the yellow basket, then grab the yellow basket.",
+    "Pick the toycar with smiling face design and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Use the right arm to pick the small toycar, then use the left arm for the yellow basket.",
+    "Move the small blue car-shaped toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the toycar with rounded edges, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick the plastic toycar, place it in the basket with perforated sides.",
+    "Set the toycar with black and orange wheels in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use the right arm to grab the lightweight toycar, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the left arm.",
+    "Take the bright blue toycar, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Pick the toycar with smiling face design, put it inside the yellow basket.",
+    "Use one arm to place the toycar with black and orange wheels in the basket with black handle, adjust the basket with black handle.",
+    "Pick and move the bright blue toycar, then shift the handheld basket.",
+    "Grab the toycar with smiling face design, set it into the basket with black handle.",
+    "Lift the blue toycar with white windows using the right arm, drop it in the plastic basket, then push the plastic basket via the left arm.",
+    "Pick up the glossy blue toycar, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Pick up the toycar with black and orange wheels and set it inside the bright yellow basket.",
+    "Pick the toycar for kids, drop the toycar for kids in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Lift the toycar with smiling face design, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick up the toycar for kids and drop it in the yellow basket, then move the yellow basket.",
+    "Pick the small blue car-shaped toycar, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the lightweight toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the lightweight toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Put the blue toycar with white windows in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Place the palm-sized plastic toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick up the toycar with smiling face design, put it in the plastic basket, shift the plastic basket a little.",
+    "Use one arm to place the toycar with rounded edges in the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode43.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7747fc61b04c1dc864d42ec2c04c02fadc4309b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black playing cards box, put the black playing cards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the black playing cards box into the woven basket and push the woven basket slightly away.",
+    "Grab the cardboard playing cards box, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the small black box with cards with one arm, drop the small black box with cards in the basket for carrying things.",
+    "Pick the black playing cards box, put it inside the basket with handle.",
+    "Put the black playing cards box in the basket with handle and pull the basket with handle away.",
+    "Grab the palm-sized box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Move the black box with rectangular shape to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use one arm to place the compact box for playing cards in the basket for carrying things.",
+    "Set the palm-sized box for playing cards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the box holding playing cards, set it into the basket for carrying things.",
+    "Pick and move the compact box for playing cards, then shift the basket with loop handle.",
+    "Place the compact box for playing cards in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Lift the box with cards inside using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Pick up the rectangle-shaped cards box, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use one arm to place the cardboard playing cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the basket with loop handle.",
+    "Lift the playing cards box with gold text, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the playing cards box with gold text, place it in the basket with loop handle.",
+    "Pick the rectangle-shaped cards box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Use one arm to grab the black box with rectangular shape, place it in the woven basket, then move the woven basket.",
+    "Pick the rectangular box for card storage, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the playing cards box with gold text, place it into the woven basket, move the woven basket.",
+    "Pick the black playing cards box, drop the black playing cards box in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Use the right arm to grab the box with cards inside, place it in the brown basket, and move the brown basket using the left arm.",
+    "Grab the rectangle-shaped cards box and drop it in the woven basket.",
+    "Grab the black box with rectangular shape, drop it in the brown basket, shift the brown basket.",
+    "Take the cardboard playing cards box, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the small black box with cards and set it inside the basket with handle.",
+    "Grab the box holding playing cards, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Put the black box with rectangular shape in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Pick up the compact box for playing cards and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the playing cards box with gold text, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Take the smooth black cards container, put the smooth black cards container into the basket for holding items, shift the basket for holding items.",
+    "Place the smooth black cards container into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Grab the playing cards box with gold text, drop in the basket for holding items, and move the basket for holding items.",
+    "Grab the box holding playing cards with one arm, drop the box holding playing cards in the brown basket with woven ridges.",
+    "Pick the smooth black cards container, put it inside the basket for carrying things.",
+    "Put the box with cards inside in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the small black box with cards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Move the black box with rectangular shape to the woven basket, then shift the woven basket.",
+    "Use one arm to place the rectangular box for card storage in the wooden basket with curved handle.",
+    "Set the black playing cards box in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Grab the playing cards box with gold text, set it into the brown basket.",
+    "Pick and move the black playing cards box, then shift the basket for carrying things.",
+    "Place the rectangular box for card storage in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the small black box with cards using the right arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the left arm.",
+    "Pick up the box holding playing cards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Use one arm to place the cardboard playing cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the smooth black cards container, then use the left arm for the oval-shaped basket with woven body.",
+    "Lift the playing cards box with gold text, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick the smooth black cards container, place it in the basket for carrying things.",
+    "Pick the small black box with cards and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Use one arm to grab the compact box for playing cards, place it in the basket with handle, then move the basket with handle.",
+    "Pick the box with cards inside, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the small black box with cards, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick the black box with rectangular shape, drop the black box with rectangular shape in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Use the right arm to grab the palm-sized box for playing cards, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Grab the rectangular box for card storage and drop it in the basket made of woven wood.",
+    "Grab the black box with rectangular shape, drop it in the basket with handle, shift the basket with handle.",
+    "Take the playing cards box with gold text, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the small black box with cards and set it inside the oval-shaped basket with woven body.",
+    "Grab the compact box for playing cards, drop it in the brown basket, then move the brown basket.",
+    "Put the box holding playing cards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Pick up the palm-sized box for playing cards and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick up the black box with rectangular shape, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Take the rectangular box for card storage, put the rectangular box for card storage into the basket for carrying things, shift the basket for carrying things.",
+    "Place the box with cards inside into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the black box with rectangular shape, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Grab the compact box for playing cards with one arm, drop the compact box for playing cards in the basket for holding items.",
+    "Pick the smooth black cards container, put it inside the oval-shaped basket with woven body.",
+    "Put the playing cards box with gold text in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the compact box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Move the playing cards box with gold text to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Use one arm to place the playing cards box with gold text in the smooth ribbed light brown basket.",
+    "Set the playing cards box with gold text in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the box with cards inside, set it into the basket for carrying things.",
+    "Pick and move the small black box with cards, then shift the brown basket with woven ridges.",
+    "Place the black playing cards box in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the box with cards inside using the right arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the left arm.",
+    "Pick up the black box with rectangular shape, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to place the rectangle-shaped cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the basket with handle.",
+    "Lift the box with cards inside, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick the box holding playing cards, place it in the basket made of woven wood.",
+    "Pick the cardboard playing cards box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Use one arm to grab the black box with rectangular shape, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the box with cards inside, place it in the basket with handle, shift the basket with handle.",
+    "Lift the palm-sized box for playing cards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Grab the black box with rectangular shape and drop it in the wooden basket with curved handle.",
+    "Grab the rectangle-shaped cards box, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the rectangle-shaped cards box, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the black playing cards box and set it inside the smooth ribbed light brown basket.",
+    "Grab the small black box with cards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the compact box for playing cards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Pick up the smooth black cards container and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the box holding playing cards, place it in the basket with handle, grab the basket with handle.",
+    "Take the small black box with cards, put the small black box with cards into the light brown oval basket, shift the light brown oval basket."
+  ],
+  "unseen": [
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and place into the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the oval basket with medium storage space and move it.",
+    "Grab the black box with smooth surface and place into the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode44.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcb158f230bb6cb4f9771ba7ac0cad3277160bed
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the smooth green toycar, drop the smooth green toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the shiny green toycar, place it in the basket for carrying things.",
+    "Take the green toycar made from plastic, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the small green toycar and drop it in the basket for holding items.",
+    "Place the small green toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the miniature bright green toycar, put it inside the basket with handle.",
+    "Grab the small plastic green toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Put the small plastic green toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the green toycar in the basket with handle.",
+    "Put the small plastic green toycar in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the toycar with black wheels, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the right arm to grab the green toycar made from plastic, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Grab the green toycar made from plastic, set it into the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Lift the tiny green toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use the right arm to pick the toycar with black wheels, then use the left arm for the wooden basket with curved handle.",
+    "Lift the shiny green toycar, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick and move the tiny green toycar, then shift the brown basket.",
+    "Grab the tiny green toycar, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the small plastic green toycar, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Lift the tiny green toycar, place it into the woven basket, move the woven basket.",
+    "Pick up the shiny green toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the tiny green toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Take the green toycar, put the green toycar into the light brown oval basket, shift the light brown oval basket.",
+    "Set the green car-shaped toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the miniature bright green toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use one arm to grab the tiny green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the green toycar made from plastic in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the smooth green toycar to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick the green toycar made from plastic, place it in the brown basket, shift the brown basket.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the basket made of woven wood.",
+    "Place the toycar with black wheels in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the basket with handle, slide the basket with handle lightly.",
+    "Pick the shiny green toycar, place it in the light brown oval basket.",
+    "Take the toycar with black wheels, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the small green toycar and drop it in the oval-shaped basket with woven body.",
+    "Place the toycar with black roof and wheels into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the green toycar, put it inside the brown basket with woven ridges.",
+    "Grab the toycar with black wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Put the shiny green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the playful green toycar in the brown basket.",
+    "Put the small green toycar in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the tiny green toycar, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the playful green toycar, place it in the basket for holding items, and move the basket for holding items using the left arm.",
+    "Grab the small green toycar, set it into the wooden basket with curved handle.",
+    "Pick the small plastic green toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Lift the shiny green toycar using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use the right arm to pick the small plastic green toycar, then use the left arm for the basket for carrying things.",
+    "Lift the miniature bright green toycar, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick and move the small plastic green toycar, then shift the light brown oval basket.",
+    "Grab the shiny green toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Pick up the smooth green toycar, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Lift the tiny green toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the green car-shaped toycar, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the toycar with black wheels, drop in the brown basket, and move the brown basket.",
+    "Take the small plastic green toycar, put the small plastic green toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Set the playful green toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the small green toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar made from plastic and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to grab the green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the toycar with black roof and wheels in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the small green toycar to the basket with handle, then shift the basket with handle.",
+    "Pick the small green toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the miniature bright green toycar with one arm, drop the miniature bright green toycar in the basket for carrying things.",
+    "Place the small plastic green toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic, drop the green toycar made from plastic in the woven basket, slide the woven basket lightly.",
+    "Pick the small plastic green toycar, place it in the basket with loop handle.",
+    "Take the green toycar made from plastic, set it in the basket with handle, shift the basket with handle lightly.",
+    "Grab the smooth green toycar and drop it in the brown basket.",
+    "Place the toycar with black roof and wheels into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Pick the tiny green toycar, put it inside the woven basket.",
+    "Grab the toycar with black roof and wheels, place it in the basket for holding items, then move the basket for holding items away.",
+    "Put the green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the green car-shaped toycar in the basket for holding items.",
+    "Put the green toycar made from plastic in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the toycar with black roof and wheels, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use the right arm to grab the shiny green toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Grab the smooth green toycar, set it into the brown basket.",
+    "Pick the toycar with black roof and wheels and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Lift the green toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use the right arm to pick the green car-shaped toycar, then use the left arm for the smooth ribbed light brown basket.",
+    "Lift the shiny green toycar, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick and move the green toycar made from plastic, then shift the oval-shaped basket with woven body.",
+    "Grab the green toycar made from plastic, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the tiny green toycar, place it in the brown basket, grab the brown basket.",
+    "Lift the tiny green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick up the miniature bright green toycar, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the toycar with black roof and wheels, drop in the basket for holding items, and move the basket for holding items.",
+    "Take the green toycar made from plastic, put the green toycar made from plastic into the light brown oval basket, shift the light brown oval basket.",
+    "Set the toycar with black roof and wheels in the brown basket, and shift the brown basket away.",
+    "Pick up the green car-shaped toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to grab the green toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to place the small plastic green toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Move the miniature bright green toycar to the basket with handle, then shift the basket with handle.",
+    "Pick the playful green toycar, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the basket made of woven wood.",
+    "Place the green toycar in the brown basket, then grab the brown basket.",
+    "Pick the tiny green toycar, drop the tiny green toycar in the brown basket, slide the brown basket lightly."
+  ],
+  "unseen": [
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the plastic toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the basket with rounded edges.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the basket with rounded edges.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode45.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3190f473c7bf3d985b55a5b84b3b6e1e88c497
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the blue playingcards box in the basket with black handle, adjust the basket with black handle.",
+    "Put the blue playingcards box in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Place the blue pack holding playingcards into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the smooth playingcards holder, set it into the medium yellow basket with slots.",
+    "Pick and move the blue playingcards box, then shift the medium yellow basket with slots.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the playingcards box with white symbols, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Grab the blue carton for playingcards and drop it in the plastic basket.",
+    "Pick up the rectangular blue playingcards case, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick up the blue carton for playingcards and set it inside the plastic basket.",
+    "Take the playingcards pack with blue top, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the playingcards box with white symbols, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with arched black grip.",
+    "Set the blue carton for playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the card box with golden designs, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the blue and white playingcards packaging, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Pick the card box with golden designs, place it in the basket with perforated sides.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the palm-sized playingcards carton in the yellow basket.",
+    "Pick the blue playingcards box and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Lift the box of playingcards using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the card box with golden designs, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the plastic basket, slide the plastic basket lightly.",
+    "Pick up the playingcards box with white symbols, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the small playingcards container, put it inside the basket with black handle.",
+    "Take the box of playingcards, put the box of playingcards into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Move the rectangular blue playingcards case to the handheld basket, then shift the handheld basket.",
+    "Put the box of playingcards in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the yellow basket for carrying stuff.",
+    "Place the blue carton for playingcards in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Grab the blue playingcards box, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Put the blue pack holding playingcards in the yellow basket, then move the yellow basket away slightly.",
+    "Place the blue and white playingcards packaging into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Grab the palm-sized playingcards carton, set it into the rectangular basket with smooth surface.",
+    "Pick and move the smooth playingcards holder, then shift the basket with arched black grip.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Grab the smooth playingcards holder, drop it in the plastic basket, then move the plastic basket.",
+    "Grab the playingcards pack with blue top, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Grab the blue carton for playingcards and drop it in the yellow basket.",
+    "Pick up the blue playingcards box, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Pick up the blue carton for playingcards and set it inside the bright yellow basket.",
+    "Take the box of playingcards, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the playingcards box with white symbols, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the bright yellow basket.",
+    "Set the blue carton for playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the blue pack holding playingcards, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the playingcards pack with blue top, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Pick the blue playingcards box, place it in the basket with arched black grip.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the small playingcards container in the bright yellow basket.",
+    "Pick the blue playingcards box and position it in the plastic basket, move the plastic basket slightly.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Lift the blue and white playingcards packaging, place it into the plastic basket, move the plastic basket.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick up the blue pack holding playingcards, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick the blue carton for playingcards, put it inside the basket with perforated sides.",
+    "Take the box of playingcards, put the box of playingcards into the plastic basket, shift the plastic basket.",
+    "Move the box of playingcards to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Put the smooth playingcards holder in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick up the blue carton for playingcards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the carrying basket with black plastic handle.",
+    "Place the playingcards box with white symbols in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box of playingcards, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Use one arm to place the playingcards box with white symbols in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Put the playingcards box with white symbols in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Place the rectangular blue playingcards case into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Grab the small playingcards container, set it into the handheld basket.",
+    "Pick and move the playingcards pack with blue top, then shift the carrying basket with black plastic handle.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the blue carton for playingcards, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Grab the smooth playingcards holder and drop it in the plastic basket.",
+    "Pick up the palm-sized playingcards carton, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick up the smooth playingcards holder and set it inside the rectangular basket with smooth surface.",
+    "Take the card box with golden designs, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Grab the blue playingcards box, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the handheld basket.",
+    "Set the blue carton for playingcards in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick the card box with golden designs, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the playingcards box with white symbols, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick the box of playingcards, place it in the yellow basket for carrying stuff.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the small playingcards container in the handheld basket.",
+    "Pick the playingcards box with white symbols and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Lift the box of playingcards using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Lift the small playingcards container, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Pick up the blue pack holding playingcards, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Pick the blue carton for playingcards, put it inside the plastic basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket with arched black grip, shift the basket with arched black grip.",
+    "Move the playingcards pack with blue top to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Put the box of playingcards in the basket with black handle and pull the basket with black handle away.",
+    "Pick up the box of playingcards and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the yellow basket for carrying stuff.",
+    "Place the blue and white playingcards packaging in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Grab the rectangular blue playingcards case, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the palm-sized playingcards carton in the yellow basket, adjust the yellow basket."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow basket with open slots.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the small packet of playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Grab the small packet of playingcards and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small packet of playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the medium-sized basket with perforated texture and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode46.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce05e8b51e27436f6cfa37af99d2bc799e90147
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the toycar with black wheels, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Place the bright blue toycar with roof buttons into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the toycar with dark gray windows, place it in the woven basket, shift the woven basket.",
+    "Grab the hand-sized rolling toycar and drop it in the smooth ribbed light brown basket.",
+    "Pick the bright blue toycar with roof buttons, put it inside the brown basket with woven ridges.",
+    "Use one arm to grab the toycar made of plastic material, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the toycar made of plastic material in the wooden basket with curved handle.",
+    "Pick the plastic toycar with smooth finish, place it in the woven basket.",
+    "Lift the small plastic toycar, place it into the brown basket, move the brown basket.",
+    "Take the kids' toycar in bright blue, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the kids' toycar in bright blue, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the toycar made of plastic material, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the toycar made of plastic material, drop the toycar made of plastic material in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Set the blue toycar with yellow roof accents in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Use the left arm to pick the toycar featuring black and white wheels, then use the right arm for the smooth ribbed light brown basket.",
+    "Grab the toycar with black wheels, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the plastic toycar with smooth finish, set it into the smooth ribbed light brown basket.",
+    "Move the toycar made of plastic material to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick the hand-sized rolling toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Use one arm to place the blue toycar with yellow roof accents in the brown basket, adjust the brown basket.",
+    "Grab the hand-sized rolling toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the brown basket, and move the brown basket using the right arm.",
+    "Put the small plastic toycar in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the brown basket.",
+    "Grab the toycar made of plastic material, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Take the compact glossy blue toycar, put the compact glossy blue toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the toycar with rounded edges, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Put the toycar with black wheels in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick up the toycar made of plastic material and set it inside the basket for carrying things.",
+    "Place the compact glossy blue toycar in the basket with handle, then grab the basket with handle.",
+    "Lift the compact glossy blue toycar using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Pick and move the bright blue toycar with roof buttons, then shift the smooth ribbed light brown basket.",
+    "Pick up the toycar featuring black and white wheels, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Place the blue toycar with yellow roof accents into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Pick the toycar with black wheels, place it in the basket for holding items, shift the basket for holding items.",
+    "Grab the toycar with black wheels and drop it in the basket with loop handle.",
+    "Pick the toycar made of plastic material, put it inside the wooden basket with curved handle.",
+    "Use one arm to grab the small plastic toycar, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the compact glossy blue toycar in the light brown oval basket.",
+    "Pick the toycar with rounded edges, place it in the basket for holding items.",
+    "Lift the toycar with black wheels, place it into the light brown oval basket, move the light brown oval basket.",
+    "Take the kids' toycar in bright blue, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the toycar with black wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the hand-sized rolling toycar, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the hand-sized rolling toycar, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Set the bright blue toycar with roof buttons in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Use the left arm to pick the kids' toycar in bright blue, then use the right arm for the basket for holding items.",
+    "Grab the blue toycar with yellow roof accents, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the toycar with rounded edges, set it into the brown basket with woven ridges.",
+    "Move the toycar featuring black and white wheels to the light brown oval basket, then shift the light brown oval basket.",
+    "Pick the toycar with rounded edges and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Use one arm to place the toycar made of plastic material in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the hand-sized rolling toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use the left arm to grab the kids' toycar in bright blue, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Put the toycar with rounded edges in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the hand-sized rolling toycar with one arm, drop the hand-sized rolling toycar in the brown basket with woven ridges.",
+    "Grab the bright blue toycar with roof buttons, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Take the toycar made of plastic material, put the toycar made of plastic material into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick up the kids' toycar in bright blue, put it in the woven basket, shift the woven basket a little.",
+    "Put the toycar made of plastic material in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the toycar featuring black and white wheels and set it inside the oval-shaped basket with woven body.",
+    "Place the toycar with dark gray windows in the basket with handle, then grab the basket with handle.",
+    "Lift the small plastic toycar 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 toycar with dark gray windows, then shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with black wheels, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Place the toycar with black wheels into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Pick the plastic toycar with smooth finish, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the hand-sized rolling toycar and drop it in the basket made of woven wood.",
+    "Pick the bright blue toycar with roof buttons, put it inside the basket made of woven wood.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the small plastic toycar in the basket for carrying things.",
+    "Pick the toycar with black wheels, place it in the basket with loop handle.",
+    "Lift the compact glossy blue toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Take the plastic toycar with smooth finish, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue toycar with yellow roof accents, drop it in the brown basket, shift the brown basket.",
+    "Lift the bright blue toycar with roof buttons, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick the toycar with dark gray windows, drop the toycar with dark gray windows in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Set the toycar made of plastic material in the brown basket, and shift the brown basket away.",
+    "Use the left arm to pick the toycar with black wheels, then use the right arm for the basket for carrying things.",
+    "Grab the blue toycar with yellow roof accents, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue toycar with yellow roof accents, set it into the basket with handle.",
+    "Move the blue toycar with yellow roof accents to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the bright blue toycar with roof buttons and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use one arm to place the toycar with dark gray windows in the basket with handle, adjust the basket with handle.",
+    "Grab the toycar made of plastic material, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use the left arm to grab the compact glossy blue toycar, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Put the compact glossy blue toycar in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket for holding items.",
+    "Grab the toycar with black wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the toycar featuring black and white wheels, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Put the small plastic toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the toycar made of plastic material and set it inside the basket with handle.",
+    "Place the plastic toycar with smooth finish in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the toycar featuring black and white wheels 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 small plastic toycar, then shift the basket for holding items.",
+    "Pick up the toycar with black wheels, place it in the wooden basket with curved handle, grab the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the oval basket with medium storage space.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the basket with rounded edges.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the playable toycar with rolling wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar in the basket with rounded edges and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the playable toycar with rolling wheels in the medium basket with smooth texture and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode47.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a297c9d11d1594aed1363aed64a56a06ce16447
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular blue playingcards case in the basket with loop handle, then grab the basket with loop handle.",
+    "Move the smooth playingcards holder to the brown basket, then shift the brown basket.",
+    "Pick the palm-sized playingcards carton and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick the blue pack holding playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the playingcards box with white symbols in the basket with handle.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Set the rectangular blue playingcards case in the light brown oval basket, and shift the light brown oval basket away.",
+    "Use one arm to place the playingcards box with white symbols in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the playingcards pack with blue top and set it inside the basket made of woven wood.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket with handle.",
+    "Pick up the blue pack holding playingcards, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Grab the blue playingcards box, drop in the basket for holding items, and move the basket for holding items.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick up the smooth playingcards holder and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols and drop it in the wooden basket with curved handle.",
+    "Pick and move the box of playingcards, then shift the basket made of woven wood.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the box of playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the small playingcards container in the woven basket and pull the woven basket away.",
+    "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.",
+    "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 small playingcards container, put it inside the brown basket with woven ridges.",
+    "Place the blue playingcards box into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the palm-sized playingcards carton, set it into the oval-shaped basket with woven body.",
+    "Lift the small playingcards container, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the card box with golden designs in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Move the blue carton for playingcards to the basket for holding items, then shift the basket for holding items.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue and white playingcards packaging, place it in the brown basket, shift the brown basket.",
+    "Use one arm to place the smooth playingcards holder in the basket for holding items.",
+    "Grab the playingcards box with white symbols, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Set the smooth playingcards holder in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Use one arm to place the blue playingcards box in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the rectangular blue playingcards case 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 brown basket.",
+    "Pick up the small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Grab the blue and white playingcards packaging, drop in the woven basket, and move the woven basket.",
+    "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.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick up the card box with golden designs and drop it in the brown basket, then move the brown basket.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the light brown oval basket.",
+    "Pick the blue playingcards box, place it in the basket for carrying things.",
+    "Grab the blue carton for playingcards and drop it in the smooth ribbed light brown basket.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for holding items.",
+    "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.",
+    "Put the small playingcards container in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "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 basket with handle, shift the basket with handle.",
+    "Pick the box of playingcards, put it inside the wooden basket with curved handle.",
+    "Place the smooth playingcards holder into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the playingcards box with white symbols, set it into the brown basket with woven ridges.",
+    "Lift the box of playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Take the playingcards box with white symbols, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Grab the playingcards box with white symbols, drop it in the brown basket, shift the brown basket.",
+    "Place the small playingcards container in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the blue and white playingcards packaging to the basket with loop handle, then shift the basket with loop handle.",
+    "Pick the blue pack holding playingcards and position it in the brown basket, move the brown basket slightly.",
+    "Pick the blue playingcards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the smooth playingcards holder in the light brown oval basket.",
+    "Grab the small playingcards container, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Set the blue carton for playingcards in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Use one arm to place the blue and white playingcards packaging in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the blue and white playingcards packaging, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the blue playingcards box and set it inside the basket with loop handle.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards, place it in the brown basket, grab the brown basket.",
+    "Pick up the playingcards pack with blue top, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the palm-sized playingcards carton, drop in the basket with loop handle, and move the basket with loop handle.",
+    "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 the left arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the card box with golden designs and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the woven basket.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle.",
+    "Grab the blue playingcards box and drop it in the basket made of woven wood.",
+    "Pick and move the small playingcards container, then shift the basket made of woven wood.",
+    "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 rectangular blue playingcards case in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "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.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Place the rectangular blue playingcards case into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the smooth playingcards holder, set it into the woven basket.",
+    "Lift the blue pack holding playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the palm-sized playingcards carton, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it 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.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the 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, 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 rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the 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.",
+    "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 medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the 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.",
+    "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 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 and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the 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, 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 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 pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the 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.",
+    "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.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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 basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the 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, 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 rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack 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 pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the 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, 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the 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, 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the 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 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.",
+    "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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode48.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e880b698e33272175948b6ee74a4297e268bd6
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the miniature bright green toycar, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the miniature bright green toycar, drop the miniature bright green toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the green car-shaped toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Lift the green toycar, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick the smooth green toycar and position it in the yellow basket, move the yellow basket slightly.",
+    "Pick up the tiny green toycar, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to grab the small green toycar, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the green car-shaped toycar, put the green car-shaped toycar into the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick the miniature bright green toycar, place it in the yellow basket for carrying stuff.",
+    "Set the tiny green toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use the left arm to pick the small green toycar, then use the right arm for the medium yellow basket with slots.",
+    "Put the smooth green toycar in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Pick and move the tiny green toycar, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black wheels, put it inside the yellow basket for carrying stuff.",
+    "Pick up the green toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar with black roof and wheels, place it in the basket with black handle, then move the basket with black handle away.",
+    "Use the left arm to grab the playful green toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Take the smooth green toycar, set it in the handheld basket, shift the handheld basket lightly.",
+    "Grab the toycar with black roof and wheels, set it into the handheld basket.",
+    "Pick up the toycar with black roof and wheels and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use one arm to place the small plastic green toycar in the basket with arched black grip.",
+    "Move the shiny green toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Use one arm to place the miniature bright green toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Lift the small plastic green toycar, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Put the smooth green toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the handheld basket.",
+    "Grab the miniature bright green toycar and drop it in the basket with perforated sides.",
+    "Place the tiny green toycar in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Pick up the playful green toycar and set it inside the rectangular basket with smooth surface.",
+    "Grab the smooth green toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick the tiny green toycar, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the toycar with black wheels into the basket with black handle and push the basket with black handle slightly away.",
+    "Grab the toycar with black wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the toycar with black wheels, drop it in the basket with black handle, shift the basket with black handle.",
+    "Pick the green toycar, drop the green toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Lift the shiny green toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the small plastic green toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Pick the tiny green toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick up the smooth green toycar, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to grab the tiny green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the green toycar, put the green toycar into the handheld basket, shift the handheld basket.",
+    "Pick the small green toycar, place it in the bright yellow basket.",
+    "Set the green car-shaped toycar in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Use the left arm to pick the green toycar made from plastic, then use the right arm for the bright yellow basket.",
+    "Put the shiny green toycar in the basket with black handle, then move the basket with black handle away slightly.",
+    "Pick and move the green toycar made from plastic, then shift the basket with perforated sides.",
+    "Pick the smooth green toycar, put it inside the rectangular basket with smooth surface.",
+    "Pick up the toycar with black wheels, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the miniature bright green toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Use the left arm to grab the shiny green toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Take the green car-shaped toycar, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Grab the toycar with black roof and wheels, set it into the rectangular yellow basket.",
+    "Pick up the green toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to place the shiny green toycar in the plastic basket.",
+    "Move the tiny green toycar to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Use one arm to place the toycar with black wheels in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Lift the green toycar made from plastic, place it into the basket with black handle, move the basket with black handle.",
+    "Put the toycar with black roof and wheels in the handheld basket and pull the handheld basket away.",
+    "Grab the tiny green toycar with one arm, drop the tiny green toycar in the basket with black handle.",
+    "Grab the smooth green toycar and drop it in the rectangular basket with smooth surface.",
+    "Place the small green toycar in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Pick up the shiny green toycar and set it inside the rectangular yellow basket.",
+    "Grab the playful green toycar, drop in the plastic basket, and move the plastic basket.",
+    "Pick the shiny green toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Place the playful green toycar into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Grab the toycar with black wheels, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the small plastic green toycar, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the playful green toycar, drop the playful green toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the green toycar using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Lift the smooth green toycar, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick the shiny green toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Pick up the small green toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Use one arm to grab the playful green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the green car-shaped toycar, put the green car-shaped toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the miniature bright green toycar, place it in the yellow basket.",
+    "Set the small plastic green toycar in the handheld basket, and shift the handheld basket away.",
+    "Use the left arm to pick the small plastic green toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Put the green toycar made from plastic in the plastic basket, then move the plastic basket away slightly.",
+    "Pick and move the miniature bright green toycar, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black roof and wheels, put it inside the yellow basket.",
+    "Pick up the tiny green toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar with black roof and wheels, place it in the plastic basket, then move the plastic basket away.",
+    "Use the left arm to grab the miniature bright green toycar, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Take the shiny green toycar, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Grab the playful green toycar, set it into the rectangular yellow basket.",
+    "Pick up the shiny green toycar and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the smooth green toycar in the bright yellow basket.",
+    "Move the green toycar to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Use one arm to place the shiny green toycar in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Lift the shiny green toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Put the miniature bright green toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Grab the green toycar made from plastic with one arm, drop the green toycar made from plastic in the yellow basket.",
+    "Grab the small green toycar and drop it in the basket with arched black grip.",
+    "Place the green toycar made from plastic in the handheld basket, then grab the handheld basket.",
+    "Pick up the smooth green toycar and set it inside the rectangular yellow basket.",
+    "Grab the green toycar made from plastic, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Pick the tiny green toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Place the small plastic green toycar into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the small green toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Grab the shiny green toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the yellow basket with open slots.",
+    "Move the plastic toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the yellow basket with open slots.",
+    "Move the toycar with rounded edges to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the bright green toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the yellow basket with open slots.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the bright green toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the bright green toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the bright green toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the yellow basket with open slots.",
+    "Move the toycar with rounded edges to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic toycar and put it into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the toycar with rounded edges to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode49.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..09c22e9250c0392f359fb020710220ccb74390d4
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue top toycar, place it in the brown basket, then move the brown basket away.",
+    "Grab the palm-sized blue toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the toycar with smooth texture and set it inside the basket made of woven wood.",
+    "Take the toycar with black tires, put the toycar with black tires into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the small plastic toycar and position it in the brown basket, move the brown basket slightly.",
+    "Pick the toycar with black tires, put it inside the basket with loop handle.",
+    "Place the toycar with transparent windshield into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the woven basket.",
+    "Pick up the toycar with shiny plastic finish, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use one arm to grab the toycar with black tires, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the small plastic toycar using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the toycar with black tires, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Move the small plastic toycar to the basket with handle, then shift the basket with handle.",
+    "Set the bright sleek toycar in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Place the toycar with shiny wheels in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Use the left arm to pick the toycar with shiny plastic finish, then use the right arm for the basket for carrying things.",
+    "Put the toycar with shiny wheels in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the blue toycar and drop it in the basket made of woven wood.",
+    "Use the left arm to grab the blue toycar, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the small plastic toycar, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the toycar with shiny plastic finish in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the blue toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the toycar with smooth texture, set it into the oval-shaped basket with woven body.",
+    "Grab the toycar with black tires, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Lift the blue top toycar, place it into the basket with handle, move the basket with handle.",
+    "Pick the bright sleek toycar, place it in the oval-shaped basket with woven body.",
+    "Take the blue and gray toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Use one arm to place the small plastic toycar in the smooth ribbed light brown basket.",
+    "Pick up the toycar with shiny plastic finish, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick and move the toycar for kids play, then shift the woven basket.",
+    "Put the small plastic toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Grab the bright sleek toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Grab the blue and gray toycar, drop in the brown basket, and move the brown basket.",
+    "Pick up the toycar with shiny plastic finish and set it inside the oval-shaped basket with woven body.",
+    "Take the small plastic toycar, put the small plastic toycar into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the toycar with shiny plastic finish and position it in the woven basket, move the woven basket slightly.",
+    "Pick the bright sleek toycar, put it inside the brown basket with woven ridges.",
+    "Place the bright sleek toycar into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the toycar with shiny wheels, drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the toycar with black tires with one arm, drop the toycar with black tires in the brown basket with woven ridges.",
+    "Pick up the toycar with transparent windshield, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use one arm to grab the small plastic toycar, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the toycar with smooth texture, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Move the toycar with black tires to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Set the bright sleek toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Place the bright sleek toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket made of woven wood.",
+    "Put the blue and gray toycar in the brown basket, then move the brown basket away slightly.",
+    "Grab the blue top toycar and drop it in the basket with loop handle.",
+    "Use the left arm to grab the toycar with black tires, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Pick the blue top toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the blue toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the toycar with black tires and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the toycar with shiny wheels, set it into the basket made of woven wood.",
+    "Grab the blue top toycar, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Lift the toycar with shiny wheels, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick the toycar with shiny wheels, place it in the basket with loop handle.",
+    "Take the blue top toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Use one arm to place the toycar with shiny plastic finish in the woven basket.",
+    "Pick up the toycar with shiny wheels, place it in the brown basket, grab the brown basket.",
+    "Pick and move the blue toycar, then shift the wooden basket with curved handle.",
+    "Put the toycar with shiny plastic finish in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the toycar with black tires, place it in the brown basket, then move the brown basket away.",
+    "Grab the blue top toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish and set it inside the basket for holding items.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the brown basket, shift the brown basket.",
+    "Pick the toycar with shiny plastic finish and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the palm-sized blue toycar, put it inside the oval-shaped basket with woven body.",
+    "Place the toycar with transparent windshield into the woven basket and push the woven basket slightly away.",
+    "Grab the toycar with shiny wheels, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket with handle.",
+    "Pick up the small plastic toycar, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Use one arm to grab the bright sleek toycar, place it in the basket with handle, then move the basket with handle.",
+    "Lift the palm-sized blue toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Lift the toycar with black tires, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Move the toycar with transparent windshield to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Set the toycar with black tires in the basket with handle, and shift the basket with handle away.",
+    "Place the toycar with transparent windshield in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to pick the bright sleek toycar, then use the right arm for the wooden basket with curved handle.",
+    "Put the toycar with shiny wheels in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the blue toycar and drop it in the brown basket.",
+    "Use the left arm to grab the toycar with shiny wheels, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick the toycar for kids play, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the toycar with black tires in the basket with handle, adjust the basket with handle.",
+    "Pick up the blue toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the toycar with black tires, set it into the basket with handle.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, shift the brown basket.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket for holding items, slide the basket for holding items lightly.",
+    "Lift the toycar with shiny wheels, place it into the basket for holding items, move the basket for holding items.",
+    "Pick the toycar with smooth texture, place it in the basket for holding items.",
+    "Take the blue top toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body.",
+    "Pick up the toycar for kids play, place it in the woven basket, grab the woven basket.",
+    "Pick and move the toycar with smooth texture, then shift the basket made of woven wood.",
+    "Put the toycar with transparent windshield in the woven basket and pull the woven basket away.",
+    "Grab the blue and gray toycar, place it in the woven basket, then move the woven basket away."
+  ],
+  "unseen": [
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode5.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd43be22cd3cba2235a5eb615d2fbd1909f3025
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact red playingcards pack and position it in the woven basket, move the woven basket slightly.",
+    "Put the compact red playingcards pack in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the red and yellow playingcards case and drop it in the light brown oval basket.",
+    "Lift the hand-sized playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Put the rectangular playingcards case in the brown basket, then move the brown basket away slightly.",
+    "Lift the compact red playingcards pack, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the playingcards box with white accents using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the box for playingcards, set it into the light brown oval basket.",
+    "Use one arm to place the yellow and red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the yellow and red playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use the left arm to grab the playingcards storage box, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick the yellow and red playingcards box, place it in the smooth ribbed light brown basket.",
+    "Place the hand-sized playingcards container in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Place the compact red playingcards pack into the basket with handle and push the basket with handle slightly away.",
+    "Set the box for playingcards in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the compact red playingcards pack in the brown basket.",
+    "Grab the playingcards storage box, place it in the woven basket, then move the woven basket away.",
+    "Grab the red playingcards box, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick and move the red and yellow playingcards case, then shift the basket for holding items.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the compact red playingcards pack, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the box for playingcards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the basket with loop handle.",
+    "Move the yellow and red playingcards box to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the playingcards storage box, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the glossy rectangular playingcards box, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick up the glossy rectangular playingcards box and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the yellow and red playingcards box, put it inside the smooth ribbed light brown basket.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the brown basket with woven ridges.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the hand-sized playingcards container and set it inside the basket with handle.",
+    "Grab the yellow and red playingcards box, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick the playingcards box with white accents and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Put the glossy rectangular playingcards box in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the smooth playingcards pack and drop it in the light brown oval basket.",
+    "Lift the rectangular playingcards case, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Put the glossy rectangular playingcards box in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the smooth playingcards pack, place it into the basket with loop handle, move the basket with loop handle.",
+    "Lift the red 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.",
+    "Grab the glossy rectangular playingcards box, set it into the basket made of woven wood.",
+    "Use one arm to place the hand-sized playingcards container in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the hand-sized playingcards container, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Use the left arm to grab the small playingcards pack, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick the red and yellow playingcards case, place it in the brown basket.",
+    "Place the hand-sized playingcards container in the light brown oval basket, then grab the light brown oval basket.",
+    "Place the red and yellow playingcards case into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Set the red playingcards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Use one arm to place the red and yellow playingcards case in the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards pack, place it in the brown basket, then move the brown basket away.",
+    "Grab the playingcards storage box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick and move the box for playingcards, then shift the light brown oval basket.",
+    "Take the box for playingcards, put the box for playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the box for playingcards, place it in the brown basket, shift the brown basket.",
+    "Grab the smooth playingcards pack, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the compact red playingcards pack with one arm, drop the compact red playingcards pack in the basket with loop handle.",
+    "Move the rectangular playingcards case to the basket with handle, then shift the basket with handle.",
+    "Take the smooth playingcards pack, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the playingcards box with white accents, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Pick up the small playingcards pack and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the small playingcards pack, put it inside the oval-shaped basket with woven body.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the smooth ribbed light brown basket.",
+    "Use one arm to grab the compact red playingcards pack, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the hand-sized playingcards container and set it inside the light brown oval basket.",
+    "Grab the yellow and red playingcards box, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the red playingcards box and position it in the brown basket, move the brown basket slightly.",
+    "Put the rectangular playingcards case in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Grab the red playingcards box and drop it in the brown basket.",
+    "Lift the playingcards storage box, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Put the rectangular playingcards case in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Lift the red and yellow playingcards case, place it into the basket for holding items, move the basket for holding items.",
+    "Lift the red and yellow playingcards case using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the smooth playingcards pack, set it into the basket made of woven wood.",
+    "Use one arm to place the red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the box for playingcards, place it in the basket with handle, grab the basket with handle.",
+    "Use the left arm to grab the rectangular playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the hand-sized playingcards container, place it in the basket made of woven wood.",
+    "Place the glossy rectangular playingcards box in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Place the playingcards storage box into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the glossy rectangular playingcards box in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the smooth playingcards pack in the wooden basket with curved handle.",
+    "Grab the compact red playingcards pack, place it in the woven basket, then move the woven basket away.",
+    "Grab the red playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick and move the glossy rectangular playingcards box, then shift the light brown oval basket.",
+    "Take the glossy rectangular playingcards box, put the glossy rectangular playingcards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the playingcards box with white accents, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the compact red playingcards pack, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the basket for carrying things.",
+    "Move the compact red playingcards pack to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the yellow and red playingcards box, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the box for playingcards, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the brown basket, slide the brown basket lightly.",
+    "Pick up the compact red playingcards pack and drop it in the woven basket, then move the woven basket.",
+    "Pick the glossy rectangular playingcards box, put it inside the brown basket with woven ridges.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the basket for carrying things.",
+    "Use one arm to grab the playingcards storage box, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the playingcards storage box and set it inside the basket made of woven wood.",
+    "Grab the rectangular playingcards case, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the red playingcards box and position it in the brown basket, move the brown basket slightly."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode6.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..81220cbf34d6e3f8393b03cb0ff6d1dbf9f04060
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the brown basket.",
+    "Pick and move the rectangular box for card storage, then shift the basket for carrying things.",
+    "Grab the box with cards inside, drop it in the brown basket, shift the brown basket.",
+    "Put the small black box with cards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the black box with rectangular shape, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the small black box with cards in the oval-shaped basket with woven body.",
+    "Grab the compact box for playing cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Grab the palm-sized box for playing cards, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick up the box with cards inside, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Lift the rectangular box for card storage, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the small black box with cards, put it in the woven basket, shift the woven basket a little.",
+    "Take the black box with rectangular shape, put the black box with rectangular shape into the basket with handle, shift the basket with handle.",
+    "Use one arm to grab the box holding playing cards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the black box with rectangular shape using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Pick the cardboard playing cards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the cardboard playing cards box and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the light brown oval basket.",
+    "Move the small black box with cards to the basket for holding items, then shift the basket for holding items.",
+    "Place the palm-sized box for playing cards into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the compact box for playing cards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Place the black playing cards box in the basket for holding items, then grab the basket for holding items.",
+    "Pick up the black box with rectangular shape and set it inside the basket with handle.",
+    "Use one arm to place the black playing cards box in the basket for holding items, adjust the basket for holding items.",
+    "Pick the playing cards box with gold text, drop the playing cards box with gold text in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the rectangular box for card storage, set it into the basket made of woven wood.",
+    "Pick the small black box with cards, put it inside the brown basket with woven ridges.",
+    "Set the palm-sized box for playing cards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the rectangle-shaped cards box and drop it in the smooth ribbed light brown basket.",
+    "Lift the black playing cards box, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the black playing cards box, place it in the woven basket.",
+    "Put the rectangle-shaped cards box in the brown basket and pull the brown basket away.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Take the box holding playing cards, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the woven basket.",
+    "Pick and move the smooth black cards container, then shift the oval-shaped basket with woven body.",
+    "Grab the black playing cards box, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Put the box holding playing cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the black box with rectangular shape, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the black playing cards box in the wooden basket with curved handle.",
+    "Grab the black playing cards box, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the cardboard playing cards box, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the rectangle-shaped cards box, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Lift the box holding playing cards, place it into the woven basket, move the woven basket.",
+    "Pick up the smooth black cards container, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Take the black playing cards box, put the black playing cards box into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the box holding playing cards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Lift the palm-sized box for playing cards using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick the rectangular box for card storage, place it in the basket with handle, shift the basket with handle.",
+    "Pick up the black box with rectangular shape and drop it in the brown basket, then move the brown basket.",
+    "Grab the palm-sized box for playing cards with one arm, drop the palm-sized box for playing cards in the brown basket.",
+    "Move the box with cards inside to the basket for holding items, then shift the basket for holding items.",
+    "Place the palm-sized box for playing cards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick the black playing cards box and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Place the box holding playing cards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the cardboard playing cards box and set it inside the basket made of woven wood.",
+    "Use one arm to place the small black box with cards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the brown basket, slide the brown basket lightly.",
+    "Grab the compact box for playing cards, set it into the basket with handle.",
+    "Pick the box with cards inside, put it inside the smooth ribbed light brown basket.",
+    "Set the black playing cards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the smooth black cards container and drop it in the basket for carrying things.",
+    "Lift the box holding playing cards, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Pick the black box with rectangular shape, place it in the smooth ribbed light brown basket.",
+    "Put the playing cards box with gold text in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the right arm to grab the box with cards inside, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Take the compact box for playing cards, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Use the right arm to pick the small black box with cards, then use the left arm for the brown basket.",
+    "Pick and move the small black box with cards, then shift the basket for carrying things.",
+    "Grab the palm-sized box for playing cards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the compact box for playing cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the rectangular box for card storage, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the compact box for playing cards in the basket for holding items.",
+    "Grab the palm-sized box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the black box with rectangular shape, drop in the woven basket, and move the woven basket.",
+    "Pick up the rectangle-shaped cards box, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Lift the compact box for playing cards, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the palm-sized box for playing cards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the black box with rectangular shape, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the cardboard playing cards box using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick the rectangular box for card storage, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the compact box for playing cards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the small black box with cards with one arm, drop the small black box with cards in the wooden basket with curved handle.",
+    "Move the cardboard playing cards box to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Place the rectangle-shaped cards box into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the black playing cards box and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Place the rectangular box for card storage in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick up the playing cards box with gold text and set it inside the brown basket with woven ridges.",
+    "Use one arm to place the black playing cards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the box with cards inside, drop the box with cards inside in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Grab the compact box for playing cards, set it into the basket with handle.",
+    "Pick the rectangle-shaped cards box, put it inside the oval-shaped basket with woven body.",
+    "Set the rectangular box for card storage in the basket with handle, and shift the basket with handle away.",
+    "Grab the compact box for playing cards and drop it in the basket made of woven wood.",
+    "Lift the black playing cards box, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the playing cards box with gold text, place it in the basket made of woven wood.",
+    "Put the rectangle-shaped cards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the right arm to grab the black playing cards box, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Take the palm-sized box for playing cards, set it in the brown basket, shift the brown basket lightly.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the brown basket."
+  ],
+  "unseen": [
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode7.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..477ef79c1d3314cd774fd4f44e453d453e5be022
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small playingcards pack, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Lift the red and yellow playingcards case, place it into the plastic basket, move the plastic basket.",
+    "Use one arm to place the smooth playingcards pack in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Put the glossy rectangular playingcards box in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Place the playingcards box with white accents in the basket with black handle, then grab the basket with black handle.",
+    "Pick up the playingcards box with white accents, put it in the handheld basket, shift the handheld basket a little.",
+    "Pick the red and yellow playingcards case and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Put the rectangular playingcards case in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Pick the yellow and red playingcards box, put it inside the bright yellow basket.",
+    "Pick up the glossy rectangular playingcards box and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the red and yellow playingcards case and set it inside the basket with perforated sides.",
+    "Grab the playingcards storage box, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use the left arm to pick the box for playingcards, then use the right arm for the yellow basket for carrying stuff.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the playingcards box with white accents, then shift the medium yellow basket with slots.",
+    "Place the rectangular playingcards case into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick the compact red playingcards pack, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the red and yellow playingcards case, place it in the rectangular yellow basket.",
+    "Move the rectangular playingcards case to the yellow basket, then shift the yellow basket.",
+    "Grab the hand-sized playingcards container and drop it in the carrying basket with black plastic handle.",
+    "Set the rectangular playingcards case in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Lift the yellow and red playingcards box using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Grab the rectangular playingcards case, set it into the rectangular basket with smooth surface.",
+    "Grab the rectangular playingcards case with one arm, drop the rectangular playingcards case in the basket with perforated sides.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the yellow basket, slide the yellow basket lightly.",
+    "Grab the glossy rectangular playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Take the playingcards box with white accents, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Grab the red playingcards box, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Use one arm to grab the rectangular playingcards case, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the hand-sized playingcards container, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Use one arm to place the box for playingcards in the plastic basket.",
+    "Grab the hand-sized playingcards container, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the hand-sized playingcards container, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Lift the box for playingcards, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Use one arm to place the small playingcards pack in the plastic basket, adjust the plastic basket.",
+    "Put the box for playingcards in the plastic basket, then move the plastic basket away slightly.",
+    "Place the red and yellow playingcards case in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the yellow and red playingcards box, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Pick the rectangular playingcards case and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Put the hand-sized playingcards container in the yellow basket and pull the yellow basket away.",
+    "Pick the small playingcards pack, put it inside the plastic basket.",
+    "Pick up the glossy rectangular playingcards box and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick up the playingcards box with white accents and set it inside the basket with black handle.",
+    "Grab the hand-sized playingcards container, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the handheld basket.",
+    "Take the box for playingcards, put the box for playingcards into the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick and move the hand-sized playingcards container, then shift the basket with black handle.",
+    "Place the rectangular playingcards case into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Pick the red and yellow playingcards case, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the box for playingcards, place it in the rectangular yellow basket.",
+    "Move the smooth playingcards pack to the plastic basket, then shift the plastic basket.",
+    "Grab the yellow and red playingcards box and drop it in the carrying basket with black plastic handle.",
+    "Set the box for playingcards in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Lift the playingcards box with white accents using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Grab the rectangular playingcards case, set it into the basket with perforated sides.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the carrying basket with black plastic handle.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the smooth playingcards pack, drop it in the basket with black handle, shift the basket with black handle.",
+    "Take the hand-sized playingcards container, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Grab the box for playingcards, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Use one arm to grab the smooth playingcards pack, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the red and yellow playingcards case, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Use one arm to place the playingcards box with white accents in the medium yellow basket with slots.",
+    "Grab the box for playingcards, drop it in the handheld basket, then move the handheld basket.",
+    "Lift the red and yellow playingcards case, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Lift the hand-sized playingcards container, place it into the handheld basket, move the handheld basket.",
+    "Use one arm to place the glossy rectangular playingcards box in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Put the playingcards box with white accents in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Place the red playingcards box in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick up the red and yellow playingcards case, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick the smooth playingcards pack and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Put the compact red playingcards pack in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the compact red playingcards pack, put it inside the rectangular basket with smooth surface.",
+    "Pick up the playingcards box with white accents and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick up the rectangular playingcards case and set it inside the handheld basket.",
+    "Grab the red and yellow playingcards case, place it in the handheld basket, then move the handheld basket away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the yellow basket for carrying stuff.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the yellow basket, shift the yellow basket.",
+    "Pick and move the smooth playingcards pack, then shift the yellow basket.",
+    "Place the playingcards box with white accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick the small playingcards pack, place it in the handheld basket, shift the handheld basket.",
+    "Pick the smooth playingcards pack, place it in the rectangular basket with smooth surface.",
+    "Move the smooth playingcards pack to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Grab the red playingcards box and drop it in the basket with black handle.",
+    "Set the red and yellow playingcards case in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Lift the hand-sized playingcards container using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Grab the compact red playingcards pack, set it into the rectangular basket with smooth surface.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the rectangular yellow basket.",
+    "Pick the box for playingcards, drop the box for playingcards in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the playingcards storage box, drop it in the yellow basket, shift the yellow basket.",
+    "Take the red playingcards box, set it in the handheld basket, shift the handheld basket lightly.",
+    "Use the left arm to grab the box for playingcards, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Grab the box for playingcards, drop in the yellow basket, and move the yellow basket.",
+    "Use one arm to grab the compact red playingcards pack, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the red playingcards box, place it in the basket with black handle, grab the basket with black handle.",
+    "Use one arm to place the red and yellow playingcards case in the rectangular basket with smooth surface.",
+    "Grab the yellow and red playingcards box, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Lift the compact red playingcards pack, drop it in the yellow basket, then slightly relocate the yellow basket."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow basket with open slots and move it.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode8.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b56357d44bcfc79b5b663db6a9e6f145dbff1b2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the box for playingcards and drop it in the yellow basket.",
+    "Grab the box for playingcards with one arm, drop the box for playingcards in the rectangular yellow basket.",
+    "Set the yellow and red playingcards box in the yellow basket, and shift the yellow basket away.",
+    "Use one arm to grab the box for playingcards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the compact red playingcards pack, place it in the handheld basket.",
+    "Grab the glossy rectangular playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Pick the smooth playingcards pack and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick up the red playingcards box and drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick the rectangular playingcards case, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the yellow basket, shift the yellow basket.",
+    "Lift the red and yellow playingcards case using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Pick and move the hand-sized playingcards container, then shift the yellow basket for carrying stuff.",
+    "Take the box for playingcards, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick up the playingcards storage box and set it inside the yellow basket.",
+    "Place the rectangular playingcards case into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Use the left arm to pick the glossy rectangular playingcards box, then use the right arm for the bright yellow basket.",
+    "Grab the compact red playingcards pack, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Use one arm to place the yellow and red playingcards box in the bright yellow basket, adjust the bright yellow basket.",
+    "Grab the small playingcards pack, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the rectangular playingcards case, put it in the yellow basket, shift the yellow basket a little.",
+    "Put the glossy rectangular playingcards box in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the red playingcards box, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the box for playingcards, drop the box for playingcards in the handheld basket, slide the handheld basket lightly.",
+    "Pick the rectangular playingcards case, put it inside the plastic basket.",
+    "Grab the playingcards box with white accents, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Pick up the compact red playingcards pack, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the small playingcards pack in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Grab the yellow and red playingcards box, set it into the rectangular basket with smooth surface.",
+    "Put the small playingcards pack in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the yellow and red playingcards box to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Lift the box for playingcards, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Use one arm to place the red and yellow playingcards case in the carrying basket with black plastic handle.",
+    "Grab the red and yellow playingcards case and drop it in the rectangular yellow basket.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the yellow basket.",
+    "Set the glossy rectangular playingcards box in the bright yellow basket, and shift the bright yellow basket away.",
+    "Use one arm to grab the playingcards storage box, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the hand-sized playingcards container, place it in the bright yellow basket.",
+    "Grab the red playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Pick the glossy rectangular playingcards box and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the rectangular playingcards case, place it in the basket with black handle, shift the basket with black handle.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the basket with arched black grip, shift the basket with arched black grip.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Pick and move the rectangular playingcards case, then shift the basket with arched black grip.",
+    "Take the smooth playingcards pack, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick up the playingcards box with white accents and set it inside the yellow basket for carrying stuff.",
+    "Place the compact red playingcards pack into the basket with black handle and push the basket with black handle slightly away.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the yellow basket for carrying stuff.",
+    "Grab the box for playingcards, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Use one arm to place the box for playingcards in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Grab the box for playingcards, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the red and yellow playingcards case, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Put the small playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Lift the glossy rectangular playingcards box, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the small playingcards pack, drop the small playingcards pack in the basket with black handle, slide the basket with black handle lightly.",
+    "Pick the red playingcards box, put it inside the basket with perforated sides.",
+    "Grab the red and yellow playingcards case, drop in the plastic basket, and move the plastic basket.",
+    "Pick up the playingcards storage box, place it in the yellow basket, grab the yellow basket.",
+    "Place the red and yellow playingcards case in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Grab the glossy rectangular playingcards box, set it into the carrying basket with black plastic handle.",
+    "Put the yellow and red playingcards box in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Move the yellow and red playingcards box to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Use the left arm to grab the red playingcards box, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Lift the small playingcards pack, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Use one arm to place the playingcards box with white accents in the basket with black handle.",
+    "Grab the smooth playingcards pack and drop it in the basket with arched black grip.",
+    "Grab the box for playingcards with one arm, drop the box for playingcards in the carrying basket with black plastic handle.",
+    "Set the hand-sized playingcards container in the carrying basket with black plastic handle, and shift the carrying basket with black plastic handle away.",
+    "Use one arm to grab the box for playingcards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the smooth playingcards pack, place it in the handheld basket.",
+    "Grab the hand-sized playingcards container, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick the box for playingcards and position it in the yellow basket, move the yellow basket slightly.",
+    "Pick up the small playingcards pack and drop it in the plastic basket, then move the plastic basket.",
+    "Pick the playingcards box with white accents, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Take the glossy rectangular playingcards box, put the glossy rectangular playingcards box into the handheld basket, shift the handheld basket.",
+    "Lift the box for playingcards using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Pick and move the red playingcards box, then shift the handheld basket.",
+    "Take the rectangular playingcards case, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Pick up the hand-sized playingcards container and set it inside the handheld basket.",
+    "Place the red playingcards box into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Use the left arm to pick the box for playingcards, then use the right arm for the rectangular basket with smooth surface.",
+    "Grab the playingcards box with white accents, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to place the yellow and red playingcards box in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Grab the playingcards storage box, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Pick up the small playingcards pack, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Put the playingcards box with white accents in the bright yellow basket and pull the bright yellow basket away.",
+    "Lift the playingcards storage box, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the box for playingcards, drop the box for playingcards in the yellow basket, slide the yellow basket lightly.",
+    "Pick the hand-sized playingcards container, put it inside the bright yellow basket.",
+    "Grab the box for playingcards, drop in the yellow basket, and move the yellow basket.",
+    "Pick up the playingcards box with white accents, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Place the small playingcards pack in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the playingcards box with white accents, set it into the bright yellow basket.",
+    "Put the glossy rectangular playingcards box in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Move the box for playingcards to the handheld basket, then shift the handheld basket.",
+    "Use the left arm to grab the glossy rectangular playingcards box, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Lift the glossy rectangular playingcards box, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Use one arm to place the rectangular playingcards case in the yellow basket for carrying stuff.",
+    "Grab the red and yellow playingcards case and drop it in the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards and drop in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small box for playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the medium-sized basket with perforated texture and move it.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the medium-sized basket with perforated texture.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it into the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode9.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..08133a9bbb5324df272e2a3d630d3950375cfe07
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene0/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the playingcards box with white symbols and drop it in the smooth ribbed light brown basket.",
+    "Use the right 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 left arm.",
+    "Lift the box of playingcards using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop in the basket for holding items, and move the basket for holding items.",
+    "Pick the card box with golden designs and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the playingcards pack with blue top, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Put the small playingcards container in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Lift the palm-sized playingcards carton, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Lift the rectangular blue playingcards case, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the blue and white playingcards packaging in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket with handle, slide the basket with handle lightly.",
+    "Pick the card box with golden designs, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue carton for playingcards and set it inside the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the light brown oval basket, shift the light brown oval basket.",
+    "Grab the small playingcards container, set it into the light brown oval basket.",
+    "Take the playingcards box with white symbols, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the blue carton for playingcards, place it in the basket for holding items, then move the basket for holding items away.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the smooth ribbed light brown basket.",
+    "Pick up the smooth playingcards holder and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the brown basket with woven ridges.",
+    "Pick the playingcards box with white symbols, put it inside the light brown oval basket.",
+    "Use one arm to place the card box with golden designs in the wooden basket with curved handle.",
+    "Pick and move the blue pack holding playingcards, then shift the woven basket.",
+    "Use one arm to place the blue playingcards box in the wooden basket with curved handle, adjust 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.",
+    "Set the small playingcards container in the woven basket, and shift the woven basket away.",
+    "Move the rectangular blue playingcards case to the basket for holding items, then shift the basket for holding items.",
+    "Place the playingcards box with white symbols in the brown basket, then grab the brown basket.",
+    "Grab the playingcards pack with blue top and drop it in the brown basket with woven ridges.",
+    "Use the right arm to grab the playingcards box with white symbols, place it in the basket with handle, and move the basket with handle using the left arm.",
+    "Lift the card box with golden designs using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the card box with golden designs, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue playingcards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the small playingcards container and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the rectangular blue playingcards case, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the smooth playingcards holder, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the blue pack holding playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the basket with handle, slide the basket with handle lightly.",
+    "Pick the smooth playingcards holder, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue carton for playingcards and set it inside the oval-shaped basket with woven body.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the rectangular blue playingcards case, set it into the woven basket.",
+    "Take the blue playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the smooth playingcards holder, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop it in the brown basket, then move the brown basket.",
+    "Grab the box of playingcards, place it in the woven basket, then move the woven basket away.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket with loop handle.",
+    "Pick up the playingcards box with white symbols and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use the right arm to pick the box of playingcards, then use the left arm for the wooden basket with curved handle.",
+    "Pick the card box with golden designs, put it inside the wooden basket with curved handle.",
+    "Use one arm to place the smooth playingcards holder in the basket for carrying things.",
+    "Pick and move the palm-sized playingcards carton, then shift the wooden basket with curved handle.",
+    "Use one arm to place the small playingcards container in the brown basket, adjust the brown basket.",
+    "Place the small playingcards container into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the playingcards box with white symbols in the woven basket, and shift the woven basket away.",
+    "Move the smooth playingcards holder to the light brown oval basket, then shift the light brown oval basket.",
+    "Place the box of playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder and drop it in the oval-shaped basket with woven body.",
+    "Use the right arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the left arm.",
+    "Lift the blue pack holding playingcards using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "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.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the palm-sized playingcards carton, drop in the brown basket, and move the brown basket.",
+    "Pick the palm-sized playingcards carton and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Put the blue and white playingcards packaging in the basket for holding items, then move the basket for holding items away slightly.",
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate 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.",
+    "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.",
+    "Pick the blue carton for playingcards, place it in the oval-shaped basket with woven body.",
+    "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.",
+    "Pick the blue pack holding playingcards, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the blue playingcards box and set it inside the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket with handle, shift the basket with handle.",
+    "Grab the blue and white playingcards packaging, set it into the brown 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.",
+    "Pick up the small playingcards container, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the blue carton for playingcards, place it in the brown basket, then move the brown basket away.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use the right arm to pick the blue playingcards box, then use the left arm for the light brown oval basket.",
+    "Pick the playingcards box with white symbols, put it inside the basket for carrying things.",
+    "Use one arm to place the blue and white playingcards packaging in the woven basket.",
+    "Pick and move the blue carton for playingcards, then shift the basket with loop handle.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Place the blue carton for playingcards into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Set the rectangular blue playingcards case in the light brown oval basket, and shift the light brown oval basket away.",
+    "Move the small playingcards container to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Place the box of playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the small playingcards container and drop it in the light brown oval basket."
+  ],
+  "unseen": [
+    "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 oval basket with medium storage space and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "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 and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "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.",
+    "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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "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.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the 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.",
+    "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 rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the 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 rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "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 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.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "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 basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the 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 oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, 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.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the 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 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.",
+    "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.",
+    "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.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "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.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the 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.",
+    "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 medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode0.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b36ec612a5126783ee8120229db3e29b000383c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the toycar for kids, put the toycar for kids into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Move the toycar for kids to the plastic basket, then shift the plastic basket.",
+    "Put the toycar for kids in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the plastic basket, slide the plastic basket lightly.",
+    "Set the toycar with smiling face design in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Place the small blue car-shaped toycar into the handheld basket and push the handheld basket slightly away.",
+    "Pick the bright blue toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the blue toycar with white windows, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the small blue car-shaped toycar, put it inside the bright yellow basket.",
+    "Lift the glossy blue toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Take the toycar with smiling face design, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Pick the bright blue toycar, place it in the basket with black handle.",
+    "Use one arm to place the blue toycar with white windows in the basket with perforated sides.",
+    "Lift the bright blue toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Use the left arm to grab the plastic toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Use one arm to place the bright blue toycar in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Place the toycar with rounded edges in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Grab the toycar with black and orange wheels, drop it in the handheld basket, shift the handheld basket.",
+    "Use the left arm to pick the lightweight toycar, then use the right arm for the basket with black handle.",
+    "Use one arm to grab the lightweight toycar, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the toycar for kids, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Lift the bright blue toycar, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels and drop it in the basket with arched black grip.",
+    "Grab the lightweight toycar, set it into the yellow basket.",
+    "Pick and move the glossy blue toycar, then shift the rectangular basket with smooth surface.",
+    "Pick the toycar with black and orange wheels and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick up the small toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Put the plastic toycar in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Pick up the toycar with rounded edges and set it inside the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels, drop in the plastic basket, and move the plastic basket.",
+    "Grab the toycar with rounded edges, place it in the basket with black handle, then move the basket with black handle away.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the plastic basket.",
+    "Pick up the glossy blue toycar, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Take the small toycar, put the small toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Move the toycar with rounded edges to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Put the toycar with rounded edges in the handheld basket and pull the handheld basket away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Set the toycar with rounded edges in the handheld basket, and shift the handheld basket away.",
+    "Place the palm-sized plastic toycar into the yellow basket and push the yellow basket slightly away.",
+    "Pick the blue toycar with white windows, place it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Grab the plastic toycar, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the palm-sized plastic toycar, put it inside the yellow basket.",
+    "Lift the toycar for kids using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm.",
+    "Take the glossy blue toycar, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick the toycar with black and orange wheels, place it in the basket with perforated sides.",
+    "Use one arm to place the small toycar in the rectangular yellow basket.",
+    "Lift the lightweight toycar, place it into the yellow basket, move the yellow basket.",
+    "Use the left arm to grab the small toycar, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Use one arm to place the toycar with smiling face design in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Place the toycar with rounded edges in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Grab the toycar with smiling face design, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use the left arm to pick the toycar with black and orange wheels, then use the right arm for the rectangular basket with smooth surface.",
+    "Use one arm to grab the bright blue toycar, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the toycar with smiling face design, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Lift the toycar with rounded edges, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the palm-sized plastic toycar and drop it in the plastic basket.",
+    "Grab the toycar with smiling face design, set it into the basket with black handle.",
+    "Pick and move the small blue car-shaped toycar, then shift the bright yellow basket.",
+    "Pick the plastic toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick up the lightweight toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Put the small toycar in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Pick up the bright blue toycar and set it inside the yellow basket.",
+    "Grab the toycar for kids, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the toycar for kids, place it in the handheld basket, then move the handheld basket away.",
+    "Grab the plastic toycar with one arm, drop the plastic toycar in the handheld basket.",
+    "Pick up the toycar with black and orange wheels, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Take the toycar for kids, put the toycar for kids into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Move the palm-sized plastic toycar to the plastic basket, then shift the plastic basket.",
+    "Put the glossy blue toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Set the small blue car-shaped toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Place the blue toycar with white windows into the handheld basket and push the handheld basket slightly away.",
+    "Pick the toycar for kids, place it in the handheld basket, shift the handheld basket.",
+    "Grab the palm-sized plastic toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Pick the small blue car-shaped toycar, put it inside the plastic basket.",
+    "Lift the toycar with rounded edges using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Take the lightweight toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Pick the plastic toycar, place it in the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar for kids in the basket with black handle.",
+    "Lift the lightweight toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Use the left arm to grab the toycar with smiling face design, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Use one arm to place the toycar for kids in the plastic basket, adjust the plastic basket.",
+    "Place the toycar with rounded edges in the plastic basket, then grab the plastic basket.",
+    "Grab the toycar with rounded edges, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the yellow basket.",
+    "Use one arm to grab the palm-sized plastic toycar, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the plastic toycar, place it in the yellow basket, grab the yellow basket.",
+    "Lift the toycar with smiling face design, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Grab the toycar with rounded edges and drop it in the carrying basket with black plastic handle.",
+    "Grab the toycar with black and orange wheels, set it into the medium yellow basket with slots.",
+    "Pick and move the blue toycar with white windows, then shift the handheld basket.",
+    "Pick the toycar for kids and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick up the toycar with rounded edges and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Put the bright blue toycar in the basket with black handle, then move the basket with black handle away slightly.",
+    "Pick up the lightweight toycar and set it inside the plastic basket.",
+    "Grab the toycar for kids, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Grab the blue toycar with white windows, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the basket with perforated sides.",
+    "Pick up the palm-sized plastic toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the basket with perforated sides, shift the basket with perforated sides."
+  ],
+  "unseen": [
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode1.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbba8c8be8ed41df79cc3cd84ac19c940ef99044
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the toycar for kids, put it inside the basket with arched black grip.",
+    "Use the left arm to grab the small blue car-shaped toycar, place it in the plastic basket, and move the plastic basket using the right arm.",
+    "Set the bright blue toycar in the plastic basket, and shift the plastic basket away.",
+    "Lift the glossy blue toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the palm-sized plastic toycar using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Use one arm to grab the bright blue toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the plastic toycar, place it in the yellow basket, shift the yellow basket.",
+    "Put the lightweight toycar in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the toycar with black and orange wheels to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick and move the plastic toycar, then shift the rectangular basket with smooth surface.",
+    "Use one arm to place the blue toycar with white windows in the bright yellow basket, adjust the bright yellow basket.",
+    "Place the toycar with rounded edges into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick the lightweight toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Pick the plastic toycar, drop the plastic toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Put the lightweight toycar in the handheld basket and pull the handheld basket away.",
+    "Pick up the bright blue toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the palm-sized plastic toycar, drop in the yellow basket, and move the yellow basket.",
+    "Pick up the toycar with smiling face design, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Use the left arm to pick the blue toycar with white windows, then use the right arm for the rectangular yellow basket.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the bright yellow basket, shift the bright yellow basket.",
+    "Pick up the small toycar, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the palm-sized plastic toycar and drop it in the plastic basket.",
+    "Use one arm to place the plastic toycar in the handheld basket.",
+    "Grab the toycar with rounded edges, set it into the medium yellow basket with slots.",
+    "Grab the toycar for kids, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Place the toycar with black and orange wheels in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Take the small toycar, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Pick the lightweight toycar, place it in the carrying basket with black plastic handle.",
+    "Grab the palm-sized plastic toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Pick up the small blue car-shaped toycar and set it inside the basket with black handle.",
+    "Lift the plastic toycar, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the toycar for kids, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Grab the toycar for kids with one arm, drop the toycar for kids in the bright yellow basket.",
+    "Pick the palm-sized plastic toycar, put it inside the medium yellow basket with slots.",
+    "Use the left arm to grab the lightweight toycar, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Set the blue toycar with white windows in the handheld basket, and shift the handheld basket away.",
+    "Lift the toycar with smiling face design, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the small blue car-shaped toycar using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the plastic basket, then move the plastic basket.",
+    "Pick the small toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Put the toycar with black and orange wheels in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the toycar with black and orange wheels to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick and move the lightweight toycar, then shift the yellow basket for carrying stuff.",
+    "Use one arm to place the toycar with smiling face design in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Place the toycar with rounded edges into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick the lightweight toycar and position it in the handheld basket, move the handheld basket slightly.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Put the lightweight toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the toycar with smiling face design and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the toycar with smiling face design, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the palm-sized plastic toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the bright yellow basket.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the yellow basket, shift the yellow basket.",
+    "Pick up the blue toycar with white windows, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar for kids and drop it in the yellow basket.",
+    "Use one arm to place the small blue car-shaped toycar in the plastic basket.",
+    "Grab the glossy blue toycar, set it into the rectangular yellow basket.",
+    "Grab the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Place the lightweight toycar in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Take the small blue car-shaped toycar, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick the toycar for kids, place it in the bright yellow basket.",
+    "Grab the toycar with smiling face design, place it in the yellow basket, then move the yellow basket away.",
+    "Pick up the bright blue toycar and set it inside the medium yellow basket with slots.",
+    "Lift the glossy blue toycar, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Grab the glossy blue toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Grab the toycar with black and orange wheels with one arm, drop the toycar with black and orange wheels in the yellow basket for carrying stuff.",
+    "Pick the toycar with black and orange wheels, put it inside the rectangular yellow basket.",
+    "Use the left arm to grab the toycar for kids, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Set the palm-sized plastic toycar in the yellow basket, and shift the yellow basket away.",
+    "Lift the plastic toycar, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Lift the small blue car-shaped toycar using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Use one arm to grab the glossy blue toycar, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick the small toycar, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Put the small blue car-shaped toycar in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Move the toycar with rounded edges to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick and move the blue toycar with white windows, then shift the rectangular basket with smooth surface.",
+    "Use one arm to place the toycar with rounded edges in the basket with black handle, adjust the basket with black handle.",
+    "Place the bright blue toycar into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick the bright blue toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick the palm-sized plastic toycar, drop the palm-sized plastic toycar in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Put the glossy blue toycar in the yellow basket and pull the yellow basket away.",
+    "Pick up the toycar with black and orange wheels and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the toycar with smiling face design, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the small toycar, place it in the handheld basket, grab the handheld basket.",
+    "Use the left arm to pick the toycar for kids, then use the right arm for the carrying basket with black plastic handle.",
+    "Take the bright blue toycar, put the bright blue toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the lightweight toycar, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Grab the bright blue toycar and drop it in the basket with arched black grip.",
+    "Use one arm to place the toycar for kids in the basket with perforated sides.",
+    "Grab the small blue car-shaped toycar, set it into the rectangular yellow basket.",
+    "Grab the toycar with smiling face design, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Place the small toycar in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Take the toycar with smiling face design, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Pick the small blue car-shaped toycar, place it in the basket with black handle.",
+    "Grab the toycar with black and orange wheels, place it in the handheld basket, then move the handheld basket away.",
+    "Pick up the toycar for kids and set it inside the yellow basket for carrying stuff.",
+    "Lift the toycar with smiling face design, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Grab the lightweight toycar, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the rectangular yellow basket.",
+    "Pick the toycar with rounded edges, put it inside the basket with black handle."
+  ],
+  "unseen": [
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode10.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..b620cbd491b8c4327a0f7e32978d738d2666a01b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact red playingcards pack, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Use the right arm to pick the red playingcards box, then use the left arm for the smooth ribbed light brown basket.",
+    "Use one arm to place the small playingcards pack in the brown basket with woven ridges.",
+    "Use one arm to place the yellow and red playingcards box in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the box for playingcards in the basket with handle, then move the basket with handle away slightly.",
+    "Lift the yellow and red playingcards box using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the smooth playingcards pack, place it in the basket for holding items.",
+    "Place the box for playingcards in the basket for holding items, then grab the basket for holding items.",
+    "Use the right arm to grab the red and yellow playingcards case, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Set the playingcards storage box in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick up the hand-sized playingcards container, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Take the rectangular playingcards case, set it in the woven basket, shift the woven basket lightly.",
+    "Lift the small playingcards pack, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Pick the yellow and red playingcards box, put it inside the basket with handle.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Put the yellow and red playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Place the box for playingcards into the brown basket and push the brown basket slightly away.",
+    "Grab the compact red playingcards pack, set it into the woven basket.",
+    "Pick up the small playingcards pack and set it inside the basket with handle.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the basket for holding items, slide the basket for holding items lightly.",
+    "Move the glossy rectangular playingcards box to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards pack, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the rectangular playingcards case, drop it in the woven basket, then move the woven basket.",
+    "Pick the red playingcards box, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick and move the small playingcards pack, then shift the brown basket with woven ridges.",
+    "Pick up the rectangular playingcards case, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the wooden basket with curved handle.",
+    "Grab the red and yellow playingcards case and drop it in the basket for carrying things.",
+    "Pick the playingcards box with white accents and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the brown basket, then move the brown basket.",
+    "Grab the box for playingcards, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the playingcards box with white accents, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Lift the box for playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to pick the red playingcards box, then use the left arm for the basket made of woven wood.",
+    "Use one arm to place the rectangular playingcards case in the brown basket with woven ridges.",
+    "Use one arm to place the box for playingcards in the light brown oval basket, adjust the light brown oval basket.",
+    "Put the playingcards storage box in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Lift the yellow and red playingcards box using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the brown basket, shift the brown basket.",
+    "Pick the red playingcards box, place it in the brown basket.",
+    "Place the red playingcards box in the brown basket, then grab the brown basket.",
+    "Use the right arm to grab the rectangular playingcards case, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Set the smooth playingcards pack in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the small playingcards pack, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Take the red playingcards box, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Lift the glossy rectangular playingcards box, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick the small playingcards pack, put it inside the light brown oval basket.",
+    "Use one arm to grab the playingcards storage box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the red playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Place the red and yellow playingcards case into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Grab the playingcards storage box, set it into the basket for holding items.",
+    "Pick up the red playingcards box and set it inside the brown basket.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the basket with handle, slide the basket with handle lightly.",
+    "Move the playingcards box with white accents to the basket for holding items, then shift the basket for holding items.",
+    "Grab the playingcards storage box, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Grab the glossy rectangular playingcards box, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the yellow and red playingcards box, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick and move the small playingcards pack, then shift the basket with handle.",
+    "Pick up the red and yellow playingcards case, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the oval-shaped basket with woven body.",
+    "Grab the compact red playingcards pack and drop it in the basket made of woven wood.",
+    "Pick the playingcards storage box and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the smooth playingcards pack and drop it in the woven basket, then move the woven basket.",
+    "Grab the rectangular playingcards case, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the box for playingcards, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Lift the hand-sized playingcards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to pick the playingcards storage box, then use the left arm for the oval-shaped basket with woven body.",
+    "Use one arm to place the smooth playingcards pack in the basket with loop handle.",
+    "Use one arm to place the compact red playingcards pack in the woven basket, adjust the woven basket.",
+    "Put the red playingcards box in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Lift the hand-sized playingcards container using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the red and yellow playingcards case, place it in the brown basket.",
+    "Place the red playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Use the right arm to grab the rectangular playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Set the yellow and red playingcards box in the basket with handle, and shift the basket with handle away.",
+    "Pick up the box for playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Take the hand-sized playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Lift the red and yellow playingcards case, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the glossy rectangular playingcards box, put it inside the basket for carrying things.",
+    "Use one arm to grab the red playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the small playingcards pack in the basket with handle and pull the basket with handle away.",
+    "Place the compact red playingcards pack into the brown basket and push the brown basket slightly away.",
+    "Grab the playingcards storage box, set it into the woven basket.",
+    "Pick up the playingcards box with white accents and set it inside the basket for holding items.",
+    "Pick the red playingcards box, drop the red playingcards box in the brown basket, slide the brown basket lightly.",
+    "Move the box for playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the box for playingcards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Grab the playingcards box with white accents, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the hand-sized playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick and move the yellow and red playingcards box, then shift the smooth ribbed light brown basket.",
+    "Pick up the yellow and red playingcards box, place it in the basket with handle, grab the basket with handle.",
+    "Grab the red and yellow playingcards case with one arm, drop the red and yellow playingcards case in the basket made of woven wood.",
+    "Grab the yellow and red playingcards box and drop it in the basket for holding items.",
+    "Pick the box for playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the playingcards storage box, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the compact red playingcards pack, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Lift the box for playingcards, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode11.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7b3a3e6a05ac60e9761ab21b339613583542cf
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the light brown oval basket.",
+    "Put the yellow and red playingcards box in the brown basket, then move the brown basket away slightly.",
+    "Grab the red and yellow playingcards case, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Place the red playingcards box into the basket with handle and push the basket with handle slightly away.",
+    "Use one arm to place the smooth playingcards pack in the basket made of woven wood.",
+    "Move the glossy rectangular playingcards box to the basket for holding items, then shift the basket for holding items.",
+    "Grab the smooth playingcards pack, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the rectangular playingcards case, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Lift the small playingcards pack 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.",
+    "Use the left arm to grab the red and yellow playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Set the glossy rectangular playingcards box in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the glossy rectangular playingcards box, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to grab the hand-sized playingcards container, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the woven basket, slide the woven basket lightly.",
+    "Pick the playingcards box with white accents, put it inside the basket with loop handle.",
+    "Grab the playingcards box with white accents with one arm, drop the playingcards box with white accents in the woven basket.",
+    "Grab the hand-sized playingcards container and drop it in the basket made of woven wood.",
+    "Pick the hand-sized playingcards container and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the red playingcards box, set it into the brown basket with woven ridges.",
+    "Pick the compact red playingcards pack, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick the playingcards box with white accents, place it in the brown basket with woven ridges.",
+    "Grab the red playingcards box, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the box for playingcards, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Place the smooth playingcards pack in the light brown oval basket, then grab the light brown oval basket.",
+    "Lift the box for playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Put the smooth playingcards pack in the woven basket and pull the woven basket away.",
+    "Lift the compact red playingcards pack, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the playingcards storage box and set it inside the basket with handle.",
+    "Take the playingcards storage box, put the playingcards storage box into the light brown oval basket, shift the light brown oval basket.",
+    "Take the playingcards box with white accents, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick and move the smooth playingcards pack, then shift the wooden basket with curved handle.",
+    "Use one arm to place the rectangular playingcards case in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick up the yellow and red playingcards box and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the oval-shaped basket with woven body.",
+    "Put the rectangular playingcards case in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the yellow and red playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Place the red and yellow playingcards case into the basket with handle and push the basket with handle slightly away.",
+    "Use one arm to place the playingcards storage box in the oval-shaped basket with woven body.",
+    "Move the hand-sized playingcards container to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the hand-sized playingcards container, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the red and yellow playingcards case, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Lift the smooth playingcards pack using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Use the left arm to grab the red playingcards box, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Set the compact red playingcards pack in the basket with handle, and shift the basket with handle away.",
+    "Pick up the box for playingcards, put it in the basket with handle, shift the basket with handle a little.",
+    "Use one arm to grab the yellow and red playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the playingcards box with white accents, put it inside the basket for carrying things.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the light brown oval basket.",
+    "Grab the yellow and red playingcards box and drop it in the wooden basket with curved handle.",
+    "Pick the box for playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Grab the hand-sized playingcards container, set it into the light brown oval basket.",
+    "Pick the box for playingcards, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the playingcards storage box, place it in the basket with handle.",
+    "Grab the playingcards storage box, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the smooth playingcards pack, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Place the playingcards storage box in the woven basket, then grab the woven basket.",
+    "Lift the box for playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the yellow and red playingcards box in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Lift the red playingcards box, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the playingcards box with white accents and set it inside the basket with loop handle.",
+    "Take the red playingcards box, put the red playingcards box into the brown basket, shift the brown basket.",
+    "Take the compact red playingcards pack, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick and move the box for playingcards, then shift the oval-shaped basket with woven body.",
+    "Use one arm to place the box for playingcards in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the box for playingcards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the basket for carrying things.",
+    "Put the glossy rectangular playingcards box in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the small playingcards pack, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Place the small playingcards pack into the woven basket and push the woven basket slightly away.",
+    "Use one arm to place the playingcards box with white accents in the basket with handle.",
+    "Move the playingcards storage box to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the small playingcards pack, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick up the yellow and red playingcards box, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Use the left arm to grab the red and yellow playingcards case, place it in the woven basket, and move the woven basket using the right arm.",
+    "Set the small playingcards pack in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Pick up the red playingcards box, put it in the brown basket, shift the brown basket a little.",
+    "Use one arm to grab the yellow and red playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Pick the red and yellow playingcards case, put it inside the brown basket.",
+    "Grab the glossy rectangular playingcards box with one arm, drop the glossy rectangular playingcards box in the light brown oval basket.",
+    "Grab the box for playingcards and drop it in the smooth ribbed light brown basket.",
+    "Pick the box for playingcards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the compact red playingcards pack, set it into the light brown oval basket.",
+    "Pick the hand-sized playingcards container, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, place it in the smooth ribbed light brown basket.",
+    "Grab the rectangular playingcards case, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the glossy rectangular playingcards box, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Place the box for playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the playingcards box with white accents, place it into the light brown oval basket, move the light brown oval basket.",
+    "Put the hand-sized playingcards container in the woven basket and pull the woven basket away.",
+    "Lift the rectangular playingcards case, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Pick up the yellow and red playingcards box and set it inside the light brown oval basket.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the basket for carrying things, shift the basket for carrying things.",
+    "Take the glossy rectangular playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Pick and move the yellow and red playingcards box, then shift the light brown oval basket.",
+    "Use one arm to place the box for playingcards in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the rectangular playingcards case and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Use the left arm to pick the glossy rectangular playingcards box, then use the right arm for the brown basket."
+  ],
+  "unseen": [
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, 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 box for playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode12.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..25938cee4449f5e926a7b042db66de1afa91aeca
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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 box of playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Grab the blue carton for playingcards, set it into the light brown oval basket.",
+    "Put the small playingcards container in the woven basket, then move the woven basket away slightly.",
+    "Grab the palm-sized playingcards carton and drop it in the basket for holding items.",
+    "Move the blue pack holding playingcards to the woven basket, then shift the woven basket.",
+    "Pick the rectangular blue playingcards case, put it inside the basket with loop handle.",
+    "Pick up the playingcards box with white symbols and set it inside the basket for carrying things.",
+    "Lift the blue carton for playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Use the right arm to grab the card box with golden designs, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Put the rectangular blue playingcards case in the woven basket and pull the woven basket away.",
+    "Pick up the small playingcards container, put it in the woven basket, shift the woven basket a little.",
+    "Take the blue playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket, then move the brown basket.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue and white playingcards packaging, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Grab the small playingcards container, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the card box with golden designs, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Place the playingcards pack with blue top into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket, then move the brown basket.",
+    "Pick the blue and white playingcards packaging and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the brown basket, slide the brown basket lightly.",
+    "Use the right arm to pick the blue carton for playingcards, then use the left arm for the wooden basket with curved handle.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the card box with golden designs and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the box of playingcards, then shift the basket for carrying things.",
+    "Grab the blue playingcards box, drop in the woven basket, and move the woven basket.",
+    "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 small playingcards container using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use one arm to place the blue and white playingcards packaging in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the small playingcards container, 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 smooth ribbed light brown basket.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle.",
+    "Set the small playingcards container in the brown basket, and shift the brown basket away.",
+    "Lift the palm-sized playingcards carton, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Grab the palm-sized playingcards carton, set it into the light brown oval basket.",
+    "Put the box of playingcards in the woven basket, then move the woven basket away slightly.",
+    "Grab the rectangular blue playingcards case and drop it in the oval-shaped basket with woven body.",
+    "Move the blue and white playingcards packaging to the basket with handle, then shift the basket with handle.",
+    "Pick the small playingcards container, put it inside the basket with loop handle.",
+    "Pick up the playingcards pack with blue top and set it inside the brown basket.",
+    "Lift the blue pack holding playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the left arm.",
+    "Put the card box with golden designs in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick up the blue pack holding playingcards, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Take the card box with golden designs, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Grab the playingcards box with white symbols, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick the card box with golden designs, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "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.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the rectangular blue playingcards case, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Place the blue and white playingcards packaging into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "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.",
+    "Pick the small playingcards container and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick the box of playingcards, drop the box of playingcards in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Use the right arm to pick the box of playingcards, then use the left arm for the basket for holding items.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the box of playingcards and drop it in the basket with handle, then move the basket with handle.",
+    "Pick and move the playingcards box with white symbols, then shift the basket with handle.",
+    "Grab the card box with golden designs, drop in the light brown oval basket, and move the light brown oval basket.",
+    "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.",
+    "Lift the card box with golden designs using the right arm, drop it in the basket with handle, then push the basket with handle via the left arm.",
+    "Use one arm to place the box of playingcards in the brown basket, adjust the brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the basket for holding items.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket with woven ridges.",
+    "Set the blue playingcards box in the basket for holding items, and shift the basket for holding items away.",
+    "Lift the small playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the blue and white playingcards packaging, set it into the light brown oval basket.",
+    "Put the small playingcards container in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the small playingcards container and drop it in the basket with handle.",
+    "Move the palm-sized playingcards carton to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick the blue and white playingcards packaging, put it inside the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and set it inside the oval-shaped basket with woven body.",
+    "Lift the blue and white playingcards packaging, place it into the basket with handle, move the basket with handle.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Put the playingcards box with white symbols in the brown basket and pull the brown basket 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.",
+    "Take the palm-sized playingcards carton, set it in the woven basket, shift the woven basket lightly.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the small playingcards container, place it in the brown basket, shift the brown basket.",
+    "Grab the blue playingcards box, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Grab the blue carton for playingcards, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the playingcards box with white symbols, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Place the blue playingcards box into the brown basket and push the brown basket slightly away.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the woven basket, then move the woven basket.",
+    "Pick the blue pack holding playingcards and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Use the right arm to pick the rectangular blue playingcards case, then use the left arm for the woven basket.",
+    "Place the small playingcards container in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the small playingcards container, then shift the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, drop in the brown basket, and move the brown basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the blue carton for playingcards using the right arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the left arm.",
+    "Use one arm to place the blue playingcards box in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick the blue carton for playingcards, place it in the basket with handle.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the smooth ribbed light brown basket.",
+    "Use one arm to place the smooth playingcards holder in the basket with loop handle.",
+    "Set the small playingcards container in the brown basket, and shift the brown basket away."
+  ],
+  "unseen": [
+    "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 pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "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.",
+    "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 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 small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the 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 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 oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the 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 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.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards 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 pack and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the 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 oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "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 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.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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 basket with rounded edges.",
+    "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 medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, 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.",
+    "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, 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.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "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 basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode13.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71a7314f3d7699a0444cb2fe2e7516e26431e14
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the bright blue toycar with roof buttons, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick and move the bright blue toycar with roof buttons, then shift the bright yellow basket.",
+    "Lift the bright blue toycar with roof buttons, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Take the hand-sized rolling toycar, put the hand-sized rolling toycar into the handheld basket, shift the handheld basket.",
+    "Pick the compact glossy blue toycar, put it inside the rectangular yellow basket.",
+    "Pick up the plastic toycar with smooth finish and set it inside the bright yellow basket.",
+    "Put the bright blue toycar with roof buttons in the basket with black handle, then move the basket with black handle away slightly.",
+    "Lift the compact glossy blue toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Use one arm to place the toycar with black wheels in the rectangular yellow basket.",
+    "Pick up the kids' toycar in bright blue, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Pick the hand-sized rolling toycar, drop the hand-sized rolling toycar in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Move the plastic toycar with smooth finish to the plastic basket, then shift the plastic basket.",
+    "Grab the compact glossy blue toycar, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Put the toycar with dark gray windows in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Pick up the kids' toycar in bright blue and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the plastic toycar with smooth finish, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to grab the kids' toycar in bright blue, place it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar made of plastic material, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Grab the compact glossy blue toycar with one arm, drop the compact glossy blue toycar in the basket with black handle.",
+    "Use one arm to place the toycar with dark gray windows in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Take the blue toycar with yellow roof accents, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick up the toycar with black wheels, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the small plastic toycar in the handheld basket, then grab the handheld basket.",
+    "Grab the kids' toycar in bright blue, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with rounded edges, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the toycar featuring black and white wheels, set it into the bright yellow basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the left arm.",
+    "Use the right arm to pick the toycar with dark gray windows, then use the left arm for the carrying basket with black plastic handle.",
+    "Place the bright blue toycar with roof buttons into the yellow basket and push the yellow basket slightly away.",
+    "Pick the plastic toycar with smooth finish and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the compact glossy blue toycar, place it in the basket with arched black grip.",
+    "Set the plastic toycar with smooth finish in the carrying basket with black plastic handle, and shift the carrying basket with black plastic handle away.",
+    "Grab the bright blue toycar with roof buttons and drop it in the yellow basket.",
+    "Use the right arm to grab the toycar with black wheels, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick and move the toycar made of plastic material, then shift the basket with perforated sides.",
+    "Lift the kids' toycar in bright blue, place it into the yellow basket, move the yellow basket.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar featuring black and white wheels, put it inside the handheld basket.",
+    "Pick up the kids' toycar in bright blue and set it inside the rectangular basket with smooth surface.",
+    "Put the toycar made of plastic material in the basket with black handle, then move the basket with black handle away slightly.",
+    "Lift the compact glossy blue toycar, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Use one arm to place the toycar featuring black and white wheels in the basket with perforated sides.",
+    "Pick up the hand-sized rolling toycar, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Move the toycar with dark gray windows to the yellow basket, then shift the yellow basket.",
+    "Grab the hand-sized rolling toycar, drop in the yellow basket, and move the yellow basket.",
+    "Put the toycar with rounded edges in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Pick up the hand-sized rolling toycar and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Grab the toycar made of plastic material, drop it in the basket with black handle, shift the basket with black handle.",
+    "Use one arm to grab the toycar with rounded edges, place it in the handheld basket, then move the handheld basket.",
+    "Grab the toycar with dark gray windows, place it in the handheld basket, then move the handheld basket away.",
+    "Grab the toycar with black wheels with one arm, drop the toycar with black wheels in the basket with perforated sides.",
+    "Use one arm to place the toycar with rounded edges in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Take the toycar featuring black and white wheels, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick up the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Place the bright blue toycar with roof buttons in the handheld basket, then grab the handheld basket.",
+    "Grab the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the plastic toycar with smooth finish, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the toycar with black wheels, set it into the plastic basket.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use the right arm to pick the small plastic toycar, then use the left arm for the medium yellow basket with slots.",
+    "Place the blue toycar with yellow roof accents into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick the toycar with dark gray windows and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Pick the toycar with rounded edges, place it in the handheld basket.",
+    "Set the toycar featuring black and white wheels in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the toycar with black wheels and drop it in the bright yellow basket.",
+    "Use the right arm to grab the kids' toycar in bright blue, place it in the yellow basket, and move the yellow basket using the left arm.",
+    "Pick and move the toycar made of plastic material, then shift the yellow basket for carrying stuff.",
+    "Lift the small plastic toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Take the toycar with black wheels, put the toycar with black wheels into the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar with rounded edges, put it inside the yellow basket for carrying stuff.",
+    "Pick up the hand-sized rolling toycar and set it inside the bright yellow basket.",
+    "Put the bright blue toycar with roof buttons in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Lift the toycar made of plastic material, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Use one arm to place the bright blue toycar with roof buttons in the yellow basket for carrying stuff.",
+    "Pick up the plastic toycar with smooth finish, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick the bright blue toycar with roof buttons, drop the bright blue toycar with roof buttons in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Move the toycar with dark gray windows to the yellow basket, then shift the yellow basket.",
+    "Grab the toycar with dark gray windows, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Put the compact glossy blue toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar with rounded edges, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Grab the kids' toycar in bright blue, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the bright yellow basket.",
+    "Use one arm to place the hand-sized rolling toycar in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Take the toycar with dark gray windows, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Pick up the small plastic toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the toycar with dark gray windows in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Grab the toycar made of plastic material, drop it in the yellow basket, then move the yellow basket.",
+    "Pick the small plastic toycar, place it in the plastic basket, shift the plastic basket.",
+    "Grab the toycar featuring black and white wheels, set it into the rectangular basket with smooth surface.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use the right arm to pick the plastic toycar with smooth finish, then use the left arm for the medium yellow basket with slots.",
+    "Place the hand-sized rolling toycar into the yellow basket and push the yellow basket slightly away.",
+    "Pick the blue toycar with yellow roof accents and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface.",
+    "Set the compact glossy blue toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Grab the blue toycar with yellow roof accents and drop it in the rectangular basket with smooth surface.",
+    "Use the right arm to grab the kids' toycar in bright blue, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm."
+  ],
+  "unseen": [
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode14.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c9378c7c00306043b1f153cde22735086c2bca
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the miniature teal vehicle toy, drop it in the yellow basket, shift the yellow basket.",
+    "Use the right arm to grab the compact teal toycar, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick the small teal plastic car with windows, put it inside the medium yellow basket with slots.",
+    "Put the play car in teal and white in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Grab the toycar with white roof and teal body, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Grab the smooth teal car and drop it in the yellow basket.",
+    "Take the toycar with black tires, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick up the toycar with glossy finish and set it inside the basket with black handle.",
+    "Pick the compact teal toycar and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the smooth teal car, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the light teal toycar with white roof, place it in the carrying basket with black plastic handle.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Grab the smooth teal car, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Lift the toycar with glossy finish using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Set the miniature teal vehicle toy in the yellow basket, and shift the yellow basket away.",
+    "Use one arm to place the toycar with glossy finish in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Use one arm to place the small car toy in the medium yellow basket with slots.",
+    "Lift the smooth teal car, place it into the plastic basket, move the plastic basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the basket with black handle.",
+    "Move the rounded teal car toy to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Place the toycar with black tires in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the small car toy and drop it in the yellow basket, then move the yellow basket.",
+    "Take the small teal plastic car with windows, put the small teal plastic car with windows into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to grab the small teal plastic car with windows, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the rounded teal car toy, place it in the plastic basket, then move the plastic basket away.",
+    "Put the smooth teal car in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the toycar with black tires, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Place the mini car toy into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the yellow basket, slide the yellow basket lightly.",
+    "Grab the play car in teal and white, set it into the basket with perforated sides.",
+    "Pick up the small car toy, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the toycar with glossy finish with one arm, drop the toycar with glossy finish in the rectangular yellow basket.",
+    "Pick and move the miniature teal vehicle toy, then shift the rectangular basket with smooth surface.",
+    "Grab the mini car toy, drop it in the plastic basket, shift the plastic basket.",
+    "Use the right arm to grab the small teal plastic car with windows, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick the light teal toycar with white roof, put it inside the basket with arched black grip.",
+    "Put the small car toy in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Grab the miniature teal vehicle toy, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the compact teal toycar and drop it in the yellow basket for carrying stuff.",
+    "Take the small teal plastic car with windows, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick up the small teal plastic car with windows and set it inside the bright yellow basket.",
+    "Pick the compact teal toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Pick the smooth teal car, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the small car toy, place it in the plastic basket.",
+    "Pick up the mini car toy, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Grab the toycar with glossy finish, drop it in the plastic basket, then move the plastic basket.",
+    "Lift the play car in teal and white using the right arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the left arm.",
+    "Set the smooth teal car in the plastic basket, and shift the plastic basket away.",
+    "Use one arm to place the light teal toycar with white roof in the basket with black handle, adjust the basket with black handle.",
+    "Use one arm to place the light teal toycar with white roof in the rectangular yellow basket.",
+    "Lift the smooth teal car, place it into the yellow basket, move the yellow basket.",
+    "Use the right arm to pick the smooth teal car, then use the left arm for the basket with perforated sides.",
+    "Move the miniature teal vehicle toy to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Place the toycar with white roof and teal body in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the smooth teal car and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the smooth teal car, put the smooth teal car into the basket with arched black grip, shift the basket with arched black grip.",
+    "Use one arm to grab the smooth teal car, place it in the plastic basket, then move the plastic basket.",
+    "Grab the mini car toy, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Put the rounded teal car toy in the yellow basket and pull the yellow basket away.",
+    "Lift the play car in teal and white, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Place the play car in teal and white into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick the small teal plastic car with windows, drop the small teal plastic car with windows in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Grab the small car toy, set it into the yellow basket.",
+    "Pick up the toycar with white roof and teal body, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Grab the play car in teal and white with one arm, drop the play car in teal and white in the carrying basket with black plastic handle.",
+    "Pick and move the play car in teal and white, then shift the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Use the right arm to grab the compact teal toycar, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the left arm.",
+    "Pick the miniature teal vehicle toy, put it inside the plastic basket.",
+    "Put the play car in teal and white in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the play car in teal and white, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Grab the rounded teal car toy and drop it in the bright yellow basket.",
+    "Take the smooth teal car, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Pick up the play car in teal and white and set it inside the bright yellow basket.",
+    "Pick the rounded teal car toy and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick the miniature teal vehicle toy, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar with white roof and teal body, place it in the basket with black handle.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Grab the miniature teal vehicle toy, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the miniature teal vehicle toy using the right arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the left arm.",
+    "Set the small teal plastic car with windows in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use one arm to place the toycar with glossy finish in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Use one arm to place the smooth teal car in the basket with black handle.",
+    "Lift the play car in teal and white, place it into the yellow basket, move the yellow basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the basket with perforated sides.",
+    "Move the light teal toycar with white roof to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Place the light teal toycar with white roof in the plastic basket, then grab the plastic basket.",
+    "Pick up the small car toy and drop it in the handheld basket, then move the handheld basket.",
+    "Take the toycar with glossy finish, put the toycar with glossy finish into the basket with black handle, shift the basket with black handle.",
+    "Use one arm to grab the light teal toycar with white roof, place it in the handheld basket, then move the handheld basket.",
+    "Grab the smooth teal car, place it in the plastic basket, then move the plastic basket away.",
+    "Put the toycar with black tires in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the light teal toycar with white roof, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Place the small teal plastic car with windows into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Pick the compact teal toycar, drop the compact teal toycar in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Grab the small car toy, set it into the handheld basket.",
+    "Pick up the smooth teal car, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the smooth teal car with one arm, drop the smooth teal car in the medium yellow basket with slots.",
+    "Pick and move the toycar with glossy finish, then shift the basket with arched black grip.",
+    "Grab the smooth teal car, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff."
+  ],
+  "unseen": [
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic teal car with wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode15.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2845a64d881ed0901abad647b6a9f09391fdfd
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth black cards container, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Place the palm-sized box for playing cards into the handheld basket and push the handheld basket slightly away.",
+    "Grab the cardboard playing cards box, drop in the handheld basket, and move the handheld basket.",
+    "Use one arm to place the box with cards inside in the plastic basket, adjust the plastic basket.",
+    "Pick and move the playing cards box with gold text, then shift the basket with perforated sides.",
+    "Use one arm to grab the palm-sized box for playing cards, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the cardboard playing cards box and set it inside the yellow basket.",
+    "Use one arm to place the smooth black cards container in the basket with black handle.",
+    "Grab the palm-sized box for playing cards and drop it in the yellow basket.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the basket with arched black grip.",
+    "Pick up the box with cards inside, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Put the rectangle-shaped cards box in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick the rectangular box for card storage, drop the rectangular box for card storage in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick the playing cards box with gold text, put it inside the basket with arched black grip.",
+    "Pick the rectangle-shaped cards box, place it in the basket with black handle.",
+    "Lift the rectangular box for card storage, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the box with cards inside, set it into the handheld basket.",
+    "Take the box holding playing cards, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the black box with rectangular shape, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the small black box with cards, place it in the plastic basket, then move the plastic basket away.",
+    "Put the playing cards box with gold text in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the yellow basket for carrying stuff.",
+    "Pick the cardboard playing cards box and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the cardboard playing cards box, place it in the basket with black handle, shift the basket with black handle.",
+    "Set the box holding playing cards in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Use the left arm to grab the smooth black cards container, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Place the black box with rectangular shape in the yellow basket, then grab the yellow basket.",
+    "Grab the smooth black cards container, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the compact box for playing cards, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Lift the black playing cards box using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Move the black box with rectangular shape to the yellow basket, then shift the yellow basket.",
+    "Take the smooth black cards container, put the smooth black cards container into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the palm-sized box for playing cards and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the box holding playing cards, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Place the rectangle-shaped cards box into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Grab the box with cards inside, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use one arm to place the rectangular box for card storage in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Pick and move the playing cards box with gold text, then shift the plastic basket.",
+    "Use one arm to grab the box holding playing cards, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the small black box with cards and set it inside the basket with perforated sides.",
+    "Use one arm to place the box holding playing cards in the bright yellow basket.",
+    "Grab the cardboard playing cards box and drop it in the yellow basket for carrying stuff.",
+    "Grab the palm-sized box for playing cards with one arm, drop the palm-sized box for playing cards in the basket with black handle.",
+    "Pick up the playing cards box with gold text, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Put the palm-sized box for playing cards in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick the palm-sized box for playing cards, drop the palm-sized box for playing cards in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Pick the playing cards box with gold text, put it inside the bright yellow basket.",
+    "Pick the rectangle-shaped cards box, place it in the basket with arched black grip.",
+    "Lift the rectangular box for card storage, place it into the bright yellow basket, move the bright yellow basket.",
+    "Grab the black box with rectangular shape, set it into the plastic basket.",
+    "Take the rectangle-shaped cards box, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the box with cards inside, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Put the rectangle-shaped cards box in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the yellow basket.",
+    "Pick the rectangular box for card storage and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick the smooth black cards container, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Set the black box with rectangular shape in the yellow basket, and shift the yellow basket away.",
+    "Use the left arm to grab the box with cards inside, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Place the black box with rectangular shape in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box holding playing cards, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the compact box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Lift the black box with rectangular shape using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Move the compact box for playing cards to the bright yellow basket, then shift the bright yellow basket.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the bright yellow basket, shift the bright yellow basket.",
+    "Pick up the black playing cards box and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the smooth black cards container, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Place the small black box with cards into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Grab the compact box for playing cards, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use one arm to place the smooth black cards container in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Pick and move the palm-sized box for playing cards, then shift the basket with arched black grip.",
+    "Use one arm to grab the box holding playing cards, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the cardboard playing cards box and set it inside the bright yellow basket.",
+    "Use one arm to place the compact box for playing cards in the basket with black handle.",
+    "Grab the playing cards box with gold text and drop it in the rectangular yellow basket.",
+    "Grab the rectangular box for card storage with one arm, drop the rectangular box for card storage in the handheld basket.",
+    "Pick up the rectangular box for card storage, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Put the box with cards inside in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the smooth black cards container, drop the smooth black cards container in the handheld basket, slide the handheld basket lightly.",
+    "Pick the black box with rectangular shape, put it inside the plastic basket.",
+    "Pick the compact box for playing cards, place it in the plastic basket.",
+    "Lift the compact box for playing cards, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the rectangle-shaped cards box, set it into the basket with black handle.",
+    "Take the box holding playing cards, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Grab the black box with rectangular shape, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Put the black playing cards box in the basket with black handle, then move the basket with black handle away slightly.",
+    "Use the left arm to pick the palm-sized box for playing cards, then use the right arm for the rectangular basket with smooth surface.",
+    "Pick the black box with rectangular shape and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick the compact box for playing cards, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Set the box with cards inside in the handheld basket, and shift the handheld basket away.",
+    "Use the left arm to grab the black playing cards box, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the smooth black cards container in the yellow basket, then grab the yellow basket.",
+    "Grab the smooth black cards container, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the box with cards inside, put it in the yellow basket, shift the yellow basket a little.",
+    "Lift the palm-sized box for playing cards using the left arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the right arm.",
+    "Move the black box with rectangular shape to the yellow basket, then shift the yellow basket.",
+    "Take the rectangular box for card storage, put the rectangular box for card storage into the basket with black handle, shift the basket with black handle.",
+    "Pick up the compact box for playing cards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Lift the box with cards inside, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip."
+  ],
+  "unseen": [
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode16.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b87ec3f7cfdbe1d66eb5304838b4c5534a58ee2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the toycar with dark gray windows in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Pick the toycar made of plastic material, put it inside the basket with black handle.",
+    "Move the kids' toycar in bright blue to the handheld basket, then shift the handheld basket.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the toycar featuring black and white wheels and drop it in the plastic basket, then move the plastic basket.",
+    "Lift the toycar made of plastic material, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Pick and move the toycar featuring black and white wheels, then shift the yellow basket for carrying stuff.",
+    "Use the right arm to grab the toycar with black wheels, place it in the basket with perforated sides, and move the basket with perforated sides using the left arm.",
+    "Pick up the hand-sized rolling toycar and set it inside the bright yellow basket.",
+    "Pick the toycar with dark gray windows, drop the toycar with dark gray windows in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the blue toycar with yellow roof accents, drop it in the yellow basket, shift the yellow basket.",
+    "Take the bright blue toycar with roof buttons, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Set the small plastic toycar in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Pick the bright blue toycar with roof buttons and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the bright blue toycar with roof buttons, drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar featuring black and white wheels with one arm, drop the toycar featuring black and white wheels in the rectangular basket with smooth surface.",
+    "Pick the toycar with rounded edges, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the toycar with dark gray windows, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket with black handle.",
+    "Grab the toycar with rounded edges, set it into the bright yellow basket.",
+    "Use one arm to place the toycar with black wheels in the handheld basket, adjust the handheld basket.",
+    "Grab the hand-sized rolling toycar, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Place the bright blue toycar with roof buttons into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Lift the toycar with black wheels, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Put the toycar with black wheels in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Use the right arm to pick the toycar made of plastic material, then use the left arm for the basket with black handle.",
+    "Pick up the compact glossy blue toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Lift the compact glossy blue toycar using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Grab the blue toycar with yellow roof accents and drop it in the bright yellow basket.",
+    "Pick up the toycar made of plastic material, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Place the blue toycar with yellow roof accents in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick the toycar featuring black and white wheels, place it in the basket with perforated sides.",
+    "Take the toycar with dark gray windows, put the toycar with dark gray windows into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Put the hand-sized rolling toycar in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Pick the toycar with dark gray windows, put it inside the rectangular yellow basket.",
+    "Move the blue toycar with yellow roof accents to the plastic basket, then shift the plastic basket.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the hand-sized rolling toycar and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Lift the toycar made of plastic material, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick and move the toycar with dark gray windows, then shift the basket with perforated sides.",
+    "Use the right arm to grab the small plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick up the small plastic toycar and set it inside the basket with black handle.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the handheld basket, slide the handheld basket lightly.",
+    "Grab the toycar with rounded edges, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Take the toycar with dark gray windows, set it in the plastic basket, shift the plastic basket lightly.",
+    "Set the kids' toycar in bright blue in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick the compact glossy blue toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Grab the toycar with dark gray windows, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the toycar with black wheels with one arm, drop the toycar with black wheels in the medium yellow basket with slots.",
+    "Pick the toycar made of plastic material, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the small plastic toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Use one arm to place the plastic toycar with smooth finish in the rectangular basket with smooth surface.",
+    "Grab the toycar with black wheels, set it into the bright yellow basket.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Grab the compact glossy blue toycar, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Place the hand-sized rolling toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Lift the kids' toycar in bright blue, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Put the compact glossy blue toycar in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Use the right arm to pick the blue toycar with yellow roof accents, then use the left arm for the basket with black handle.",
+    "Pick up the compact glossy blue toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Grab the compact glossy blue toycar and drop it in the plastic basket.",
+    "Pick up the compact glossy blue toycar, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Place the plastic toycar with smooth finish in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick the toycar made of plastic material, place it in the plastic basket.",
+    "Take the small plastic toycar, put the small plastic toycar into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the toycar made of plastic material in the yellow basket, then move the yellow basket away slightly.",
+    "Pick the toycar made of plastic material, put it inside the carrying basket with black plastic handle.",
+    "Move the blue toycar with yellow roof accents to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the kids' toycar in bright blue and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the toycar with dark gray windows, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick and move the toycar with black wheels, then shift the rectangular basket with smooth surface.",
+    "Use the right arm to grab the toycar made of plastic material, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick up the hand-sized rolling toycar and set it inside the medium yellow basket with slots.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the blue toycar with yellow roof accents, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Take the bright blue toycar with roof buttons, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Set the plastic toycar with smooth finish in the yellow basket, and shift the yellow basket away.",
+    "Pick the compact glossy blue toycar and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Grab the toycar featuring black and white wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the bright yellow basket.",
+    "Pick the plastic toycar with smooth finish, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the hand-sized rolling toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Use one arm to place the bright blue toycar with roof buttons in the rectangular basket with smooth surface.",
+    "Grab the blue toycar with yellow roof accents, set it into the medium yellow basket with slots.",
+    "Use one arm to place the compact glossy blue toycar in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Grab the toycar featuring black and white wheels, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Place the hand-sized rolling toycar into the handheld basket and push the handheld basket slightly away.",
+    "Lift the plastic toycar with smooth finish, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Put the bright blue toycar with roof buttons in the bright yellow basket and pull the bright yellow basket away.",
+    "Use the right arm to pick the bright blue toycar with roof buttons, then use the left arm for the basket with perforated sides.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket, grab the yellow basket.",
+    "Lift the blue toycar with yellow roof accents using the right arm, drop it in the handheld basket, then push the handheld basket via the left arm.",
+    "Grab the hand-sized rolling toycar and drop it in the yellow basket.",
+    "Pick up the toycar with black wheels, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Place the toycar with black wheels in the plastic basket, then grab the plastic basket.",
+    "Pick the toycar with black wheels, place it in the basket with perforated sides.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the basket with arched black grip, shift the basket with arched black grip.",
+    "Put the kids' toycar in bright blue in the yellow basket, then move the yellow basket away slightly."
+  ],
+  "unseen": [
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode17.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8b79116842a61468a94830b2ff638805dc4959
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the palm-sized playingcards carton in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the blue pack holding playingcards and set it inside the brown basket.",
+    "Use one arm to grab the card box with golden designs, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the palm-sized playingcards carton using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Grab the palm-sized playingcards carton and drop it in the brown basket.",
+    "Grab the blue playingcards box, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Use one arm to place the small playingcards container in the oval-shaped basket with woven body.",
+    "Lift the blue carton for playingcards, place it into the woven basket, move the woven basket.",
+    "Use the right arm to pick the card box with golden designs, then use the left arm for the basket for holding items.",
+    "Pick the playingcards box with white symbols, put it inside the woven basket.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick the blue carton for playingcards, place it in the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the rectangular blue playingcards case, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick the blue pack holding playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick and move the palm-sized playingcards carton, 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.",
+    "Take the card box with golden designs, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick up the card box with golden designs, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Place the palm-sized playingcards carton into the basket for holding items and push the basket for holding items slightly away.",
+    "Lift the playingcards pack with blue top, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Place the rectangular blue playingcards case in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket with handle, slide the basket with handle lightly.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "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.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the oval-shaped basket with woven body.",
+    "Pick up the blue playingcards box, place it in the basket for holding items, grab the basket for holding items.",
+    "Take the box of playingcards, put the box of playingcards into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Put the small playingcards container in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Grab the smooth playingcards holder, set it into the brown basket.",
+    "Use the right arm to grab the small playingcards container, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left 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 up the blue and white playingcards packaging and set it inside the brown basket with woven ridges.",
+    "Use one arm to grab the box of playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the blue playingcards box using the right arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the left arm.",
+    "Grab the palm-sized playingcards carton and drop it in the woven basket.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the playingcards pack with blue top in the light brown oval basket and pull the light brown oval basket away.",
+    "Use one arm to place the smooth playingcards holder in the oval-shaped basket with woven body.",
+    "Lift the blue carton for playingcards, place it into the basket for holding items, move the basket for holding items.",
+    "Use the right arm to pick the smooth playingcards holder, then use the left arm for the basket with handle.",
+    "Pick the blue and white playingcards packaging, put it inside the light brown oval basket.",
+    "Use one arm to place the blue playingcards box in the brown basket, adjust the brown basket.",
+    "Pick the smooth playingcards holder, place it in the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the blue playingcards box, place it in the brown basket, shift the brown basket.",
+    "Grab the palm-sized playingcards carton, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the card box with golden designs and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick and move the blue pack holding playingcards, then shift the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards holder and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the palm-sized playingcards carton, put it in the woven basket, shift the woven basket a little.",
+    "Place the small playingcards container into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Lift the playingcards box with white symbols, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Place the smooth playingcards holder in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the small playingcards container, drop the small playingcards container in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Move the blue pack holding playingcards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton, drop it in the brown basket, then move the brown basket.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket for carrying things.",
+    "Pick up the blue carton for playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Take the small playingcards container, put the small playingcards container into the brown basket, shift the brown basket.",
+    "Put the palm-sized playingcards carton in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the blue playingcards box, set it into the brown basket with woven ridges.",
+    "Use the right arm to grab the blue playingcards box, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "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 and set it inside the basket with loop handle.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket, then move the brown basket.",
+    "Lift the blue playingcards box using the right arm, drop it in the basket with handle, then push the basket with handle via the left arm.",
+    "Grab the rectangular blue playingcards case and drop it in 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.",
+    "Put the rectangular blue playingcards case in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Use one arm to place the palm-sized playingcards carton in the basket made of woven wood.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Use the right arm to pick the blue and white playingcards packaging, then use the left arm for the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, put it inside the basket with handle.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the blue carton for playingcards, place it in the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the playingcards pack with blue top, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the blue playingcards box and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick and move the card box with golden designs, then shift the basket with 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.",
+    "Take the small playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Place the card box with golden designs into the woven basket and push the woven basket slightly away.",
+    "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 palm-sized playingcards carton in the basket with loop handle, then grab the basket with loop handle.",
+    "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.",
+    "Move the box of playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket made of woven wood.",
+    "Pick up the box of playingcards, place it in the basket for holding items, grab the basket for holding items.",
+    "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 blue playingcards box in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the rectangular blue playingcards case, set it into the light brown oval basket.",
+    "Use the right arm to grab the playingcards pack with blue top, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Set the smooth playingcards holder in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away."
+  ],
+  "unseen": [
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "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 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.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards 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.",
+    "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.",
+    "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.",
+    "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.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "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 in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards 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 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 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 case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the 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 basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "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 oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the 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 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.",
+    "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.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, 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.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, 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.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the 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.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "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.",
+    "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 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 in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the 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.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the 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."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode18.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..51aabdc3532b986380a23982ddfaa2a94814f765
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the green toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Place the toycar with black wheels into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Lift the smooth green toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the tiny green toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the toycar with black wheels, place it in the carrying basket with black plastic handle.",
+    "Pick and move the green toycar, then shift the basket with perforated sides.",
+    "Pick up the playful green toycar, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the green car-shaped toycar and set it inside the basket with perforated sides.",
+    "Put the green toycar in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Use one arm to grab the smooth green toycar, place it in the plastic basket, then move the plastic basket.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the rectangular basket with smooth surface.",
+    "Grab the green toycar and drop it in the medium yellow basket with slots.",
+    "Pick the shiny green toycar, drop the shiny green toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Place the green toycar in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the green toycar made from plastic and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the small green toycar, set it into the rectangular basket with smooth surface.",
+    "Pick the green toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the small plastic green toycar, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the tiny green toycar using the right arm, drop it in the bright yellow basket, then push the bright yellow basket via the left arm.",
+    "Take the small green toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the playful green toycar, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Put the tiny green toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Use one arm to place the small green toycar in the yellow basket.",
+    "Set the small green toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick up the tiny green toycar, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the right arm to pick the green toycar made from plastic, then use the left arm for the basket with black handle.",
+    "Move the green car-shaped toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the toycar with black roof and wheels, put it inside the basket with perforated sides.",
+    "Take the playful green toycar, put the playful green toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Grab the green toycar, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the green car-shaped toycar in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick the green car-shaped toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the tiny green toycar, drop it in the handheld basket, then move the handheld basket.",
+    "Use the right arm to grab the shiny green toycar, place it in the plastic basket, and move the plastic basket using the left arm.",
+    "Place the miniature bright green toycar into the yellow basket and push the yellow basket slightly away.",
+    "Lift the tiny green toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Lift the shiny green toycar, place it into the handheld basket, move the handheld basket.",
+    "Pick the green car-shaped toycar, place it in the plastic basket.",
+    "Pick and move the toycar with black roof and wheels, then shift the plastic basket.",
+    "Pick up the green toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick up the green toycar made from plastic and set it inside the basket with arched black grip.",
+    "Put the tiny green toycar in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Use one arm to grab the small green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the green toycar made from plastic with one arm, drop the green toycar made from plastic in the basket with perforated sides.",
+    "Grab the toycar with black roof and wheels and drop it in the bright yellow basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the handheld basket, slide the handheld basket lightly.",
+    "Place the smooth green toycar in the handheld basket, then grab the handheld basket.",
+    "Pick up the smooth green toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the miniature bright green toycar, set it into the rectangular yellow basket.",
+    "Pick the toycar with black roof and wheels and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Grab the shiny green toycar, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the small green toycar using the right arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the left arm.",
+    "Take the playful green toycar, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the toycar with black wheels, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Put the green toycar in the basket with black handle and pull the basket with black handle away.",
+    "Use one arm to place the green toycar made from plastic in the rectangular basket with smooth surface.",
+    "Set the green car-shaped toycar in the yellow basket, and shift the yellow basket away.",
+    "Pick up the shiny green toycar, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Use the right arm to pick the green toycar made from plastic, then use the left arm for the basket with arched black grip.",
+    "Move the miniature bright green toycar to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black roof and wheels, put it inside the basket with black handle.",
+    "Take the small plastic green toycar, put the small plastic green toycar into the basket with black handle, shift the basket with black handle.",
+    "Grab the small green toycar, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the toycar with black wheels in the bright yellow basket, adjust the bright yellow basket.",
+    "Pick the shiny green toycar, place it in the plastic basket, shift the plastic basket.",
+    "Grab the small green toycar, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Use the right arm to grab the small green toycar, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the left arm.",
+    "Place the small green toycar into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Lift the miniature bright green toycar, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Lift the green car-shaped toycar, place it into the basket with black handle, move the basket with black handle.",
+    "Pick the green toycar, place it in the bright yellow basket.",
+    "Pick and move the toycar with black roof and wheels, then shift the bright yellow basket.",
+    "Pick up the smooth green toycar, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick up the toycar with black wheels and set it inside the plastic basket.",
+    "Put the playful green toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Use one arm to grab the toycar with black roof and wheels, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the tiny green toycar with one arm, drop the tiny green toycar in the plastic basket.",
+    "Grab the green toycar made from plastic and drop it in the medium yellow basket with slots.",
+    "Pick the green toycar, drop the green toycar in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Place the shiny green toycar in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick up the shiny green toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the smooth green toycar, set it into the basket with black handle.",
+    "Pick the toycar with black wheels and position it in the handheld basket, move the handheld basket slightly.",
+    "Grab the tiny green toycar, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Lift the small plastic green toycar using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Take the tiny green toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Grab the smooth green toycar, place it in the yellow basket, then move the yellow basket away.",
+    "Put the tiny green toycar in the yellow basket and pull the yellow basket away.",
+    "Use one arm to place the small green toycar in the carrying basket with black plastic handle.",
+    "Set the green car-shaped toycar in the yellow basket, and shift the yellow basket away.",
+    "Pick up the green toycar made from plastic, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the right arm to pick the shiny green toycar, then use the left arm for the carrying basket with black plastic handle.",
+    "Move the green toycar made from plastic to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the toycar with black roof and wheels, put it inside the carrying basket with black plastic handle.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the plastic basket, shift the plastic basket.",
+    "Grab the shiny green toycar, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the toycar with black wheels in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the toycar with black wheels, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the green car-shaped toycar, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the right arm to grab the shiny green toycar, place it in the plastic basket, and move the plastic basket using the left arm."
+  ],
+  "unseen": [
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the bright green toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the bright green toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with rounded edges to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow basket with open slots.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode19.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8335611da194b28011a9e1ff900183862425a7a
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic toycar with one arm, drop the plastic toycar in the basket with arched black grip.",
+    "Grab the toycar with black and orange wheels, set it into the basket with perforated sides.",
+    "Grab the small toycar and drop it in the basket with black handle.",
+    "Pick the palm-sized plastic toycar, put it inside the basket with arched black grip.",
+    "Pick the glossy blue toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick and move the toycar with smiling face design, then shift the medium yellow basket with slots.",
+    "Lift the palm-sized plastic toycar, place it into the plastic basket, move the plastic basket.",
+    "Put the palm-sized plastic toycar in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the small toycar using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Grab the blue toycar with white windows, drop it in the basket with black handle, then move the basket with black handle.",
+    "Take the plastic toycar, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Use the right arm to grab the toycar with black and orange wheels, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick up the toycar with rounded edges, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Pick up the plastic toycar, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the lightweight toycar, drop in the plastic basket, and move the plastic basket.",
+    "Use the right arm to pick the blue toycar with white windows, then use the left arm for the rectangular basket with smooth surface.",
+    "Take the plastic toycar, put the plastic toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Place the toycar for kids in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Use one arm to place the glossy blue toycar in the basket with black handle, adjust the basket with black handle.",
+    "Place the lightweight toycar into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Lift the toycar with smiling face design, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Set the plastic toycar in the plastic basket, and shift the plastic basket away.",
+    "Put the toycar with rounded edges in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Use one arm to place the palm-sized plastic toycar in the plastic basket.",
+    "Grab the toycar for kids, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the toycar with smiling face design and set it inside the medium yellow basket with slots.",
+    "Pick the blue toycar with white windows, place it in the basket with arched black grip.",
+    "Grab the glossy blue toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the glossy blue toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the blue toycar with white windows and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Use one arm to grab the small blue car-shaped toycar, place it in the yellow basket, then move the yellow basket.",
+    "Move the glossy blue toycar to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the bright yellow basket.",
+    "Grab the toycar with smiling face design, set it into the yellow basket.",
+    "Grab the blue toycar with white windows and drop it in the rectangular yellow basket.",
+    "Pick the small toycar, put it inside the yellow basket for carrying stuff.",
+    "Pick the small blue car-shaped toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick and move the small blue car-shaped toycar, then shift the basket with arched black grip.",
+    "Lift the glossy blue toycar, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Put the lightweight toycar in the yellow basket and pull the yellow basket away.",
+    "Lift the toycar with black and orange wheels using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Grab the plastic toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Take the toycar with smiling face design, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Use the right arm to grab the toycar with rounded edges, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick up the toycar with rounded edges, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the toycar with smiling face design, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the toycar for kids, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use the right arm to pick the palm-sized plastic toycar, then use the left arm for the basket with perforated sides.",
+    "Take the plastic toycar, put the plastic toycar into the plastic basket, shift the plastic basket.",
+    "Place the plastic toycar in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to place the toycar for kids in the yellow basket, adjust the yellow basket.",
+    "Place the blue toycar with white windows into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Lift the toycar for kids, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Set the toycar for kids in the handheld basket, and shift the handheld basket away.",
+    "Put the blue toycar with white windows in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Use one arm to place the toycar for kids in the rectangular yellow basket.",
+    "Grab the glossy blue toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the palm-sized plastic toycar and set it inside the rectangular yellow basket.",
+    "Pick the plastic toycar, place it in the handheld basket.",
+    "Grab the toycar with black and orange wheels, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick up the toycar for kids and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the blue toycar with white windows and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Use one arm to grab the blue toycar with white windows, place it in the plastic basket, then move the plastic basket.",
+    "Move the small blue car-shaped toycar to the basket with black handle, then shift the basket with black handle.",
+    "Grab the toycar with rounded edges with one arm, drop the toycar with rounded edges in the basket with black handle.",
+    "Grab the toycar for kids, set it into the handheld basket.",
+    "Grab the toycar with rounded edges and drop it in the bright yellow basket.",
+    "Pick the plastic toycar, put it inside the basket with perforated sides.",
+    "Pick the glossy blue toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick and move the bright blue toycar, then shift the handheld basket.",
+    "Lift the bright blue toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Put the toycar with smiling face design in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the palm-sized plastic toycar using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Grab the toycar for kids, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the lightweight toycar, set it in the yellow basket, shift the yellow basket lightly.",
+    "Use the right arm to grab the toycar with black and orange wheels, place it in the handheld basket, and move the handheld basket using the left arm.",
+    "Pick up the blue toycar with white windows, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick up the toycar for kids, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the lightweight toycar, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use the right arm to pick the glossy blue toycar, then use the left arm for the plastic basket.",
+    "Take the toycar with black and orange wheels, put the toycar with black and orange wheels into the yellow basket, shift the yellow basket.",
+    "Place the bright blue toycar in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar with rounded edges in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Place the bright blue toycar into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Pick the toycar for kids, drop the toycar for kids in the handheld basket, slide the handheld basket lightly.",
+    "Lift the toycar with black and orange wheels, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Set the small toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Put the toycar with smiling face design in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Use one arm to place the plastic toycar in the bright yellow basket.",
+    "Grab the lightweight toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Pick up the glossy blue toycar and set it inside the yellow basket for carrying stuff.",
+    "Pick the toycar with smiling face design, place it in the bright yellow basket.",
+    "Grab the toycar with rounded edges, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick up the glossy blue toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the lightweight toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Use one arm to grab the blue toycar with white windows, place it in the yellow basket, then move the yellow basket.",
+    "Move the small blue car-shaped toycar to the handheld basket, then shift the handheld basket.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the rectangular yellow basket."
+  ],
+  "unseen": [
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode2.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..15764f6972c8a062730fdab1a72f898dd2ac76bd
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the green toycar made from plastic to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use one arm to place the small plastic green toycar in the basket for carrying things.",
+    "Grab the tiny green toycar, place it in the woven basket, then move the woven basket away.",
+    "Pick the small plastic green toycar, place it in the light brown oval basket.",
+    "Pick the playful green toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the playful green toycar in the basket with loop handle, then grab the basket with loop handle.",
+    "Use the left arm to grab the playful green toycar, place it in the brown basket, and move the brown basket using the right arm.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the wooden basket with curved handle.",
+    "Lift the green toycar made from plastic, place it into the basket for holding items, move the basket for holding items.",
+    "Place the playful green toycar into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Take the small green toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the miniature bright green toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the green toycar and drop it in the basket with loop handle.",
+    "Pick and move the smooth green toycar, then shift the brown basket with woven ridges.",
+    "Lift the small plastic green toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick up the playful green toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use the left arm to pick the small green toycar, then use the right arm for the woven basket.",
+    "Grab the playful green toycar, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the playful green toycar, place it in the woven basket, grab the woven basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the brown basket, slide the brown basket lightly.",
+    "Grab the shiny green toycar, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the shiny green toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to grab the miniature bright green toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the toycar with black wheels and set it inside the light brown oval basket.",
+    "Lift the miniature bright green toycar 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 one arm to place the small plastic green toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the green toycar made from plastic, put it inside the smooth ribbed light brown basket.",
+    "Put the small green toycar in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Put the playful green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the small green toycar, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the small plastic green toycar, set it into the light brown oval basket.",
+    "Set the playful green toycar in the woven basket, and shift the woven basket away.",
+    "Move the green car-shaped toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use one arm to place the small plastic green toycar in the brown basket with woven ridges.",
+    "Grab the green car-shaped toycar, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick the playful green toycar, place it in the basket for holding items.",
+    "Pick the green car-shaped toycar and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Place the small green toycar in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Use the left arm to grab the green car-shaped toycar, 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 toycar with black wheels with one arm, drop the toycar with black wheels in the basket for carrying things.",
+    "Lift the miniature bright green toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Place the small plastic green toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Take the smooth green toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the miniature bright green toycar and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the smooth green toycar and drop it in the basket made of woven wood.",
+    "Pick and move the toycar with black roof and wheels, then shift the basket for carrying things.",
+    "Lift the small green toycar, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick up the miniature bright green toycar, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Use the left arm to pick the playful green toycar, then use the right arm for the woven basket.",
+    "Grab the miniature bright green toycar, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick up the small green toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the small plastic green toycar, drop the small plastic green toycar in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the smooth green toycar, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick the miniature bright green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the toycar with black roof and wheels, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the green toycar and set it inside the basket made of woven wood.",
+    "Lift the green toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use one arm to place the smooth green toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the green toycar made from plastic, put it inside the light brown oval basket.",
+    "Put the miniature bright green toycar in the basket for holding items, then move the basket for holding items away slightly.",
+    "Put the green car-shaped toycar in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the green toycar, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Take the tiny green toycar, put the tiny green toycar into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the toycar with black wheels, set it into the brown basket with woven ridges.",
+    "Set the green toycar made from plastic in the basket with handle, and shift the basket with handle away.",
+    "Move the smooth green toycar to the basket with handle, then shift the basket with handle.",
+    "Use one arm to place the toycar with black wheels in the wooden basket with curved handle.",
+    "Grab the tiny green toycar, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick the toycar with black roof and wheels, place it in the basket with handle.",
+    "Pick the smooth green toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Place the green toycar made from plastic in the brown basket, then grab the brown basket.",
+    "Use the left arm to grab the toycar with black wheels, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the green toycar with one arm, drop the green toycar in the basket for holding items.",
+    "Lift the tiny green toycar, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Place the green toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Take the smooth green toycar, set it in the basket with handle, shift the basket with handle lightly.",
+    "Pick up the toycar with black roof and wheels and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the playful green toycar and drop it in the woven basket.",
+    "Pick and move the green toycar made from plastic, then shift the basket made of woven wood.",
+    "Lift the toycar with black roof and wheels, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the small plastic green toycar, put it in the woven basket, shift the woven basket a little.",
+    "Use the left arm to pick the shiny green toycar, then use the right arm for the basket for carrying things.",
+    "Grab the green car-shaped toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick up the toycar with black wheels, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic, drop the green toycar made from plastic in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the small green toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the shiny green toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to grab the small plastic green toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the green toycar made from plastic and set it inside the woven basket.",
+    "Lift the toycar with black wheels 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 place the small green toycar in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick the tiny green toycar, put it inside the wooden basket with curved handle.",
+    "Put the small plastic green toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the toycar with black roof and wheels, drop it in the woven basket, shift the woven basket.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the tiny green toycar, set it into the basket with loop handle.",
+    "Set the smooth green toycar in the basket for carrying things, and shift the basket for carrying things away.",
+    "Move the tiny green toycar to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the plastic toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Pick up the plastic toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode20.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf92e9680565dd439c8f7472cb87fdb4871c32ce
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the toycar with glossy finish using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Pick and move the toycar with glossy finish, then shift the basket with black handle.",
+    "Pick up the smooth teal car, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the mini car toy, drop the mini car toy in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the toycar with glossy finish, put the toycar with glossy finish into the plastic basket, shift the plastic basket.",
+    "Set the small teal plastic car with windows in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick up the smooth teal car, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular yellow basket.",
+    "Place the miniature teal vehicle toy into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Place the toycar with white roof and teal body in the handheld basket, then grab the handheld basket.",
+    "Pick the miniature teal vehicle toy, put it inside the bright yellow basket.",
+    "Grab the mini car toy, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the mini car toy in the plastic basket, adjust the plastic basket.",
+    "Put the toycar with glossy finish in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the light teal toycar with white roof, set it into the rectangular yellow basket.",
+    "Pick up the compact teal toycar and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the compact teal toycar, place it in the basket with perforated sides.",
+    "Lift the light teal toycar with white roof, place it into the handheld basket, move the handheld basket.",
+    "Put the play car in teal and white in the handheld basket and pull the handheld basket away.",
+    "Move the light teal toycar with white roof to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Grab the mini car toy, drop it in the yellow basket, then move the yellow basket.",
+    "Use the left arm to grab the light teal toycar with white roof, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Pick up the small teal plastic car with windows and set it inside the plastic basket.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the rectangular basket with smooth surface.",
+    "Use one arm to grab the smooth teal car, place it in the handheld basket, then move the handheld basket.",
+    "Use one arm to place the small teal plastic car with windows in the yellow basket for carrying stuff.",
+    "Take the toycar with white roof and teal body, set it in the handheld basket, shift the handheld basket lightly.",
+    "Lift the small teal plastic car with windows, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Pick the light teal toycar with white roof and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the play car in teal and white, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body and drop it in the bright yellow basket.",
+    "Pick the mini car toy, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the rounded teal car toy, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Lift the compact teal toycar using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Pick and move the small teal plastic car with windows, then shift the yellow basket for carrying stuff.",
+    "Pick up the smooth teal car, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Pick the rounded teal car toy, drop the rounded teal car toy in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the compact teal toycar, put the compact teal toycar into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Set the rounded teal car toy in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick up the small car toy, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the compact teal toycar with one arm, drop the compact teal toycar in the basket with arched black grip.",
+    "Place the light teal toycar with white roof into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Place the miniature teal vehicle toy in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick the toycar with black tires, put it inside the yellow basket.",
+    "Grab the toycar with white roof and teal body, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Use one arm to place the compact teal toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Put the miniature teal vehicle toy in the handheld basket, then move the handheld basket away slightly.",
+    "Grab the toycar with glossy finish, set it into the carrying basket with black plastic handle.",
+    "Pick up the light teal toycar with white roof and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the miniature teal vehicle toy, place it in the basket with perforated sides.",
+    "Lift the rounded teal car toy, place it into the yellow basket for carrying stuff, move the yellow basket for carrying stuff.",
+    "Put the toycar with white roof and teal body in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Move the compact teal toycar to the handheld basket, then shift the handheld basket.",
+    "Grab the small teal plastic car with windows, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to grab the small car toy, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Pick up the rounded teal car toy and set it inside the basket with arched black grip.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the basket with arched black grip.",
+    "Use one arm to grab the smooth teal car, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use one arm to place the smooth teal car in the rectangular basket with smooth surface.",
+    "Take the toycar with white roof and teal body, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Lift the play car in teal and white, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Pick the compact teal toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Grab the light teal toycar with white roof, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Grab the smooth teal car and drop it in the medium yellow basket with slots.",
+    "Pick the small teal plastic car with windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the mini car toy, place it in the basket with black handle, then move the basket with black handle away.",
+    "Lift the play car in teal and white using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Pick and move the small teal plastic car with windows, then shift the rectangular basket with smooth surface.",
+    "Pick up the smooth teal car, place it in the yellow basket, grab the yellow basket.",
+    "Pick the toycar with glossy finish, drop the toycar with glossy finish in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the mini car toy, put the mini car toy into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Set the light teal toycar with white roof in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick up the compact teal toycar, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the rounded teal car toy with one arm, drop the rounded teal car toy in the medium yellow basket with slots.",
+    "Place the play car in teal and white into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Place the toycar with glossy finish in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick the miniature teal vehicle toy, put it inside the rectangular yellow basket.",
+    "Grab the toycar with black tires, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to place the small car toy in the basket with black handle, adjust the basket with black handle.",
+    "Put the toycar with white roof and teal body in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the mini car toy, set it into the medium yellow basket with slots.",
+    "Pick up the mini car toy and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the light teal toycar with white roof, place it in the rectangular yellow basket.",
+    "Lift the toycar with black tires, place it into the yellow basket, move the yellow basket.",
+    "Put the smooth teal car in the handheld basket and pull the handheld basket away.",
+    "Move the small car toy to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle.",
+    "Grab the toycar with glossy finish, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to grab the mini car toy, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Pick up the play car in teal and white and set it inside the handheld basket.",
+    "Use the left arm to pick the play car in teal and white, then use the right arm for the plastic basket.",
+    "Use one arm to grab the play car in teal and white, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use one arm to place the compact teal toycar in the medium yellow basket with slots.",
+    "Take the smooth teal car, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Lift the small teal plastic car with windows, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the miniature teal vehicle toy and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the miniature teal vehicle toy, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the toycar with white roof and teal body and drop it in the bright yellow basket.",
+    "Pick the toycar with black tires, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Grab the smooth teal car, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Lift the compact teal toycar using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm."
+  ],
+  "unseen": [
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode21.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc2acda7af67d11a64c2edab25592068d0df801
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the box with cards inside in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the rectangular box for card storage, set it into the carrying basket with black plastic handle.",
+    "Move the small black box with cards to the plastic basket, then shift the plastic basket.",
+    "Place the small black box with cards in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Pick up the rectangular box for card storage and set it inside the basket with perforated sides.",
+    "Pick the black box with rectangular shape and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the small black box with cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Take the black playing cards box, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Use the left arm to pick the box with cards inside, then use the right arm for the basket with arched black grip.",
+    "Grab the box with cards inside, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Grab the cardboard playing cards box, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Lift the black box with rectangular shape, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the compact box for playing cards with one arm, drop the compact box for playing cards in the medium yellow basket with slots.",
+    "Use one arm to place the black box with rectangular shape in the plastic basket, adjust the plastic basket.",
+    "Pick up the playing cards box with gold text, place it in the yellow basket, grab the yellow basket.",
+    "Pick the box holding playing cards, put it inside the medium yellow basket with slots.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the handheld basket, shift the handheld basket.",
+    "Use one arm to place the smooth black cards container in the bright yellow basket.",
+    "Grab the rectangle-shaped cards box, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the rectangular box for card storage using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Lift the box holding playing cards, place it into the handheld basket, move the handheld basket.",
+    "Place the smooth black cards container into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the palm-sized box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Pick the compact box for playing cards, place it in the basket with arched black grip.",
+    "Put the box holding playing cards in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Set the compact box for playing cards in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the box holding playing cards, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Use one arm to grab the black playing cards box, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the playing cards box with gold text and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the rectangular box for card storage, drop the rectangular box for card storage in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the black box with rectangular shape and drop it in the plastic basket.",
+    "Use the left arm to grab the black box with rectangular shape, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Pick and move the palm-sized box for playing cards, then shift the yellow basket for carrying stuff.",
+    "Put the smooth black cards container in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the box holding playing cards, set it into the bright yellow basket.",
+    "Move the playing cards box with gold text to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Place the playing cards box with gold text in the plastic basket, then grab the plastic basket.",
+    "Pick up the compact box for playing cards and set it inside the handheld basket.",
+    "Pick the black box with rectangular shape and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick the compact box for playing cards, place it in the yellow basket, shift the yellow basket.",
+    "Take the palm-sized box for playing cards, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the handheld basket.",
+    "Grab the compact box for playing cards, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the cardboard playing cards box, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Lift the smooth black cards container, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the basket with perforated sides.",
+    "Use one arm to place the compact box for playing cards in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick up the black box with rectangular shape, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the box holding playing cards, put it inside the medium yellow basket with slots.",
+    "Take the box holding playing cards, put the box holding playing cards into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to place the smooth black cards container in the basket with arched black grip.",
+    "Grab the cardboard playing cards box, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Lift the cardboard playing cards box using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Lift the palm-sized box for playing cards, place it into the bright yellow basket, move the bright yellow basket.",
+    "Place the small black box with cards into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick up the palm-sized box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Pick the palm-sized box for playing cards, place it in the basket with black handle.",
+    "Put the small black box with cards in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Set the black playing cards box in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Grab the box holding playing cards, place it in the handheld basket, then move the handheld basket away.",
+    "Use one arm to grab the rectangle-shaped cards box, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the palm-sized box for playing cards and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Grab the small black box with cards and drop it in the basket with arched black grip.",
+    "Use the left arm to grab the smooth black cards container, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Pick and move the cardboard playing cards box, then shift the medium yellow basket with slots.",
+    "Put the box holding playing cards in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the rectangular box for card storage, set it into the plastic basket.",
+    "Move the playing cards box with gold text to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle.",
+    "Place the playing cards box with gold text in the plastic basket, then grab the plastic basket.",
+    "Pick up the palm-sized box for playing cards and set it inside the handheld basket.",
+    "Pick the compact box for playing cards and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the compact box for playing cards, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Take the box holding playing cards, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Use the left arm to pick the small black box with cards, then use the right arm for the handheld basket.",
+    "Grab the small black box with cards, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the palm-sized box for playing cards, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the smooth black cards container, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the basket with perforated sides.",
+    "Use one arm to place the cardboard playing cards box in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Pick up the small black box with cards, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Pick the small black box with cards, put it inside the carrying basket with black plastic handle.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Use one arm to place the black box with rectangular shape in the basket with black handle.",
+    "Grab the cardboard playing cards box, drop in the yellow basket, and move the yellow basket.",
+    "Lift the black box with rectangular shape using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Lift the smooth black cards container, place it into the plastic basket, move the plastic basket.",
+    "Place the box with cards inside into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the smooth black cards container, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick the black box with rectangular shape, place it in the basket with perforated sides.",
+    "Put the rectangular box for card storage in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Set the cardboard playing cards box in the handheld basket, and shift the handheld basket away.",
+    "Grab the palm-sized box for playing cards, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Use one arm to grab the rectangular box for card storage, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the box holding playing cards and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the smooth black cards container, drop the smooth black cards container in the plastic basket, slide the plastic basket lightly.",
+    "Grab the playing cards box with gold text and drop it in the yellow basket.",
+    "Use the left arm to grab the black box with rectangular shape, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Pick and move the compact box for playing cards, then shift the handheld basket.",
+    "Put the rectangular box for card storage in the handheld basket, then move the handheld basket away slightly."
+  ],
+  "unseen": [
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the black box with smooth surface to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the yellow basket with open slots and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode22.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..985fa942605fe06b241115aec0847ff1f70edca7
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to grab the blue and gray toycar, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Take the toycar with smooth texture, put the toycar with smooth texture into the woven basket, shift the woven basket.",
+    "Pick the toycar with shiny plastic finish and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick up the small plastic toycar and set it inside the smooth ribbed light brown basket.",
+    "Grab the bright sleek toycar, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue toycar, set it into the light brown oval basket.",
+    "Put the toycar with black tires in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Set the blue top toycar in the brown basket, and shift the brown basket away.",
+    "Place the small plastic toycar into the brown basket and push the brown basket slightly away.",
+    "Use the left arm to grab the blue and gray toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Lift the toycar with shiny plastic finish, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Lift the toycar with shiny wheels using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the toycar with shiny wheels, then shift the basket made of woven wood.",
+    "Pick the blue toycar, place it in the light brown oval basket.",
+    "Pick the bright sleek toycar, drop the bright sleek toycar in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the light brown oval basket.",
+    "Grab the small plastic toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the blue top toycar, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the toycar with shiny wheels and drop it in the basket for holding items.",
+    "Pick the toycar for kids play, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue top toycar in the basket with handle and pull the basket with handle away.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the basket made of woven wood.",
+    "Lift the toycar with black tires, place it into the woven basket, move the woven basket.",
+    "Pick up the blue toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Place the toycar with black tires in the woven basket, then grab the woven basket.",
+    "Pick up the blue toycar, place it in the basket with handle, grab the basket with handle.",
+    "Use one arm to place the blue and gray toycar in the basket for holding items.",
+    "Pick the toycar with smooth texture, put it inside the woven basket.",
+    "Move the bright sleek toycar to the basket for holding items, then shift the basket for holding items.",
+    "Grab the small plastic toycar, place it in the woven basket, then move the woven basket away.",
+    "Use one arm to place the toycar with shiny wheels in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the toycar with smooth texture and drop it in the basket for holding items, then move the basket for holding items.",
+    "Take the toycar with shiny plastic finish, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Use one arm to grab the palm-sized blue toycar, place it in the basket with handle, then move the basket with handle.",
+    "Take the toycar for kids play, put the toycar for kids play into the woven basket, shift the woven basket.",
+    "Pick the blue toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the toycar with black tires and set it inside the brown basket with woven ridges.",
+    "Grab the bright sleek toycar, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the toycar with shiny plastic finish, set it into the brown basket with woven ridges.",
+    "Put the toycar for kids play in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Set the toycar for kids play in the woven basket, and shift the woven basket away.",
+    "Place the toycar with black tires 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 top toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the blue and gray toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the bright sleek toycar using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick and move the small plastic toycar, then shift the basket for carrying things.",
+    "Pick the bright sleek toycar, place it in the wooden basket with curved handle.",
+    "Pick the blue and gray toycar, drop the blue and gray toycar in the woven basket, slide the woven basket lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the brown basket.",
+    "Grab the blue and gray toycar, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the blue and gray toycar, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Grab the bright sleek toycar and drop it in the basket with loop handle.",
+    "Pick the toycar with transparent windshield, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the toycar with smooth texture in the brown basket and pull the brown basket away.",
+    "Use the left arm to pick the toycar for kids play, then use the right arm for the basket with handle.",
+    "Lift the toycar with shiny plastic finish, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick up the toycar with shiny plastic finish, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Place the toycar with black tires in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the bright sleek toycar, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Use one arm to place the blue and gray toycar in the light brown oval basket.",
+    "Pick the toycar for kids play, put it inside the light brown oval basket.",
+    "Move the small plastic toycar to the woven basket, then shift the woven basket.",
+    "Grab the toycar with smooth texture, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Use one arm to place the palm-sized blue toycar in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the toycar with shiny wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the toycar with shiny wheels, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use one arm to grab the blue toycar, place it in the brown basket, then move the brown basket.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Pick the toycar with shiny plastic finish and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the toycar with shiny wheels and set it inside the woven basket.",
+    "Grab the toycar with transparent windshield, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the blue toycar, set it into the brown basket with woven ridges.",
+    "Put the toycar with black tires in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Set the blue toycar in the basket with handle, and shift the basket with handle away.",
+    "Place the toycar with black tires into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Use the left arm to grab the toycar with smooth texture, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the toycar with black tires, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the bright sleek toycar, then shift the basket made of woven wood.",
+    "Pick the toycar with black tires, place it in the brown basket with woven ridges.",
+    "Pick the blue top toycar, drop the blue top toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Grab the toycar with black tires with one arm, drop the toycar with black tires in the basket with handle.",
+    "Grab the blue top toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the toycar with black tires, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the blue top toycar and drop it in the basket for carrying things.",
+    "Pick the bright sleek toycar, place it in the brown basket, shift the brown basket.",
+    "Put the blue and gray toycar in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the brown basket.",
+    "Lift the blue toycar, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the toycar with transparent windshield, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Place the blue toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick up the toycar with smooth texture, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Use one arm to place the blue top toycar in the basket made of woven wood.",
+    "Pick the palm-sized blue toycar, put it inside the light brown oval basket.",
+    "Move the toycar with shiny wheels to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the toycar with smooth texture, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Use one arm to place the toycar with shiny wheels in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the toycar with smooth texture and drop it in the woven basket, then move the woven basket.",
+    "Take the blue and gray toycar, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Use one arm to grab the toycar with shiny plastic finish, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode23.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..773f3012cff6caceafa434a35d0f2e45d72f602c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the toycar with black tires, drop it in the plastic basket, then move the plastic basket.",
+    "Pick up the toycar with black tires, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the mini car toy, drop in the handheld basket, and move the handheld basket.",
+    "Use one arm to place the miniature teal vehicle toy in the basket with arched black grip.",
+    "Use one arm to grab the small car toy, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the toycar with glossy finish, place it in the handheld basket, then move the handheld basket away.",
+    "Use the left arm to pick the small teal plastic car with windows, then use the right arm for the yellow basket.",
+    "Lift the play car in teal and white using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Put the play car in teal and white in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the mini car toy and drop it in the basket with arched black grip.",
+    "Pick the toycar with glossy finish, place it in the rectangular basket with smooth surface.",
+    "Lift the light teal toycar with white roof, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick and move the compact teal toycar, then shift the rectangular basket with smooth surface.",
+    "Pick the small teal plastic car with windows, place it in the basket with black handle, shift the basket with black handle.",
+    "Pick up the mini car toy, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Grab the miniature teal vehicle toy, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick the smooth teal car, drop the smooth teal car in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Use the left arm to grab the compact teal toycar, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the rounded teal car toy into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the compact teal toycar and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Put the compact teal toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Take the small car toy, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick the play car in teal and white and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Move the small teal plastic car with windows to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Pick the mini car toy, put it inside the yellow basket.",
+    "Lift the small car toy, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Take the miniature teal vehicle toy, put the miniature teal vehicle toy into the bright yellow basket, shift the bright yellow basket.",
+    "Use one arm to place the mini car toy in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick up the mini car toy and set it inside the yellow basket.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the yellow basket.",
+    "Grab the play car in teal and white, set it into the medium yellow basket with slots.",
+    "Place the toycar with white roof and teal body in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Set the rounded teal car toy in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Grab the toycar with black tires, drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the smooth teal car, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Grab the rounded teal car toy, drop in the yellow basket, and move the yellow basket.",
+    "Use one arm to place the rounded teal car toy in the bright yellow basket.",
+    "Use one arm to grab the mini car toy, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the play car in teal and white, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the bright yellow basket.",
+    "Lift the miniature teal vehicle toy using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Put the mini car toy in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Grab the light teal toycar with white roof and drop it in the medium yellow basket with slots.",
+    "Pick the toycar with glossy finish, place it in the basket with perforated sides.",
+    "Lift the toycar with glossy finish, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick and move the play car in teal and white, then shift the basket with perforated sides.",
+    "Pick the toycar with white roof and teal body, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the small teal plastic car with windows, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Grab the toycar with white roof and teal body, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the plastic basket, slide the plastic basket lightly.",
+    "Use the left arm to grab the small car toy, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Place the miniature teal vehicle toy into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick up the small teal plastic car with windows and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Put the rounded teal car toy in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Take the smooth teal car, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick the toycar with black tires and position it in the plastic basket, move the plastic basket slightly.",
+    "Move the compact teal toycar to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick the smooth teal car, put it inside the basket with perforated sides.",
+    "Lift the miniature teal vehicle toy, place it into the yellow basket, move the yellow basket.",
+    "Take the compact teal toycar, put the compact teal toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to place the compact teal toycar in the plastic basket, adjust the plastic basket.",
+    "Pick up the small car toy and set it inside the plastic basket.",
+    "Grab the smooth teal car with one arm, drop the smooth teal car in the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, set it into the plastic basket.",
+    "Place the toycar with black tires in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Set the smooth teal car in the yellow basket, and shift the yellow basket away.",
+    "Grab the play car in teal and white, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick up the toycar with glossy finish, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Grab the rounded teal car toy, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use one arm to place the toycar with black tires in the yellow basket for carrying stuff.",
+    "Use one arm to grab the smooth teal car, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the play car in teal and white, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use the left arm to pick the compact teal toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Lift the toycar with glossy finish using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Put the mini car toy in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Grab the miniature teal vehicle toy and drop it in the basket with perforated sides.",
+    "Pick the toycar with glossy finish, place it in the rectangular yellow basket.",
+    "Lift the small car toy, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick and move the mini car toy, then shift the carrying basket with black plastic handle.",
+    "Pick the play car in teal and white, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the miniature teal vehicle toy, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Grab the miniature teal vehicle toy, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the mini car toy, drop the mini car toy in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Use the left arm to grab the miniature teal vehicle toy, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the miniature teal vehicle toy into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the mini car toy and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Put the toycar with white roof and teal body in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Take the toycar with white roof and teal body, set it in the handheld basket, shift the handheld basket lightly.",
+    "Pick the play car in teal and white and position it in the yellow basket, move the yellow basket slightly.",
+    "Move the miniature teal vehicle toy to the handheld basket, then shift the handheld basket.",
+    "Pick the mini car toy, put it inside the handheld basket.",
+    "Lift the small car toy, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Take the rounded teal car toy, put the rounded teal car toy into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to place the toycar with white roof and teal body in the yellow basket, adjust the yellow basket.",
+    "Pick up the toycar with black tires and set it inside the plastic basket.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body, set it into the carrying basket with black plastic handle.",
+    "Place the smooth teal car in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Set the smooth teal car in the yellow basket, and shift the yellow basket away.",
+    "Grab the toycar with glossy finish, drop it in the basket with arched black grip, then move the basket with arched black grip."
+  ],
+  "unseen": [
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode24.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..3253e5aab99ac3f60131c29dd02e57f2ba65a782
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the bright blue toycar with roof buttons in the basket with arched black grip.",
+    "Place the hand-sized rolling toycar into the plastic basket and push the plastic basket slightly away.",
+    "Set the toycar with dark gray windows in the handheld basket, and shift the handheld basket away.",
+    "Grab the toycar with rounded edges and drop it in the handheld basket.",
+    "Pick and move the small plastic toycar, then shift the yellow basket for carrying stuff.",
+    "Pick up the toycar made of plastic material and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use the left arm to pick the small plastic toycar, then use the right arm for the carrying basket with black plastic handle.",
+    "Place the bright blue toycar with roof buttons in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Lift the small plastic toycar, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Grab the toycar featuring black and white wheels, drop in the handheld basket, and move the handheld basket.",
+    "Lift the blue toycar with yellow roof accents, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Lift the toycar featuring black and white wheels using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Use one arm to grab the toycar with black wheels, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the hand-sized rolling toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Grab the compact glossy blue toycar with one arm, drop the compact glossy blue toycar in the handheld basket.",
+    "Use the left arm to grab the compact glossy blue toycar, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Put the toycar with dark gray windows in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Grab the kids' toycar in bright blue, set it into the handheld basket.",
+    "Pick the toycar with black wheels, place it in the handheld basket.",
+    "Move the bright blue toycar with roof buttons to the bright yellow basket, then shift the bright yellow basket.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Put the blue toycar with yellow roof accents in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Use one arm to place the bright blue toycar with roof buttons in the basket with black handle, adjust the basket with black handle.",
+    "Grab the small plastic toycar, drop it in the yellow basket, shift the yellow basket.",
+    "Pick up the toycar with black wheels, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the toycar with black wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the bright blue toycar with roof buttons and set it inside the carrying basket with black plastic handle.",
+    "Grab the compact glossy blue toycar, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Pick the toycar with dark gray windows, put it inside the bright yellow basket.",
+    "Pick up the plastic toycar with smooth finish, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the bright blue toycar with roof buttons and position it in the handheld basket, move the handheld basket slightly.",
+    "Take the kids' toycar in bright blue, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Use one arm to place the compact glossy blue toycar in the medium yellow basket with slots.",
+    "Place the blue toycar with yellow roof accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Set the toycar featuring black and white wheels in the basket with black handle, and shift the basket with black handle away.",
+    "Grab the toycar with dark gray windows and drop it in the medium yellow basket with slots.",
+    "Pick and move the toycar with black wheels, then shift the yellow basket for carrying stuff.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Use the left arm to pick the toycar made of plastic material, then use the right arm for the rectangular basket with smooth surface.",
+    "Place the bright blue toycar with roof buttons in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Lift the toycar made of plastic material, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Grab the plastic toycar with smooth finish, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Lift the small plastic toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the toycar made of plastic material using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the plastic basket, then move the plastic basket.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Take the small plastic toycar, put the small plastic toycar into the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the bright yellow basket.",
+    "Use the left arm to grab the blue toycar with yellow roof accents, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Put the toycar made of plastic material in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the plastic toycar with smooth finish, set it into the yellow basket for carrying stuff.",
+    "Pick the plastic toycar with smooth finish, place it in the basket with perforated sides.",
+    "Move the kids' toycar in bright blue to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Pick the hand-sized rolling toycar, drop the hand-sized rolling toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Put the toycar featuring black and white wheels in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Use one arm to place the compact glossy blue toycar in the handheld basket, adjust the handheld basket.",
+    "Grab the toycar with dark gray windows, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the small plastic toycar, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the plastic toycar with smooth finish, drop it in the yellow basket, then move the yellow basket.",
+    "Pick up the plastic toycar with smooth finish and set it inside the bright yellow basket.",
+    "Grab the blue toycar with yellow roof accents, place it in the plastic basket, then move the plastic basket away.",
+    "Pick the hand-sized rolling toycar, put it inside the basket with perforated sides.",
+    "Pick up the compact glossy blue toycar, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Pick the toycar with black wheels and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Take the hand-sized rolling toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Use one arm to place the bright blue toycar with roof buttons in the medium yellow basket with slots.",
+    "Place the kids' toycar in bright blue into the yellow basket and push the yellow basket slightly away.",
+    "Set the toycar made of plastic material in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Grab the toycar with black wheels and drop it in the plastic basket.",
+    "Pick and move the hand-sized rolling toycar, then shift the basket with black handle.",
+    "Pick up the toycar with black wheels and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Use the left arm to pick the compact glossy blue toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Place the toycar featuring black and white wheels in the handheld basket, then grab the handheld basket.",
+    "Lift the toycar featuring black and white wheels, place it into the plastic basket, move the plastic basket.",
+    "Grab the bright blue toycar with roof buttons, drop in the handheld basket, and move the handheld basket.",
+    "Lift the blue toycar with yellow roof accents, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Lift the hand-sized rolling toycar using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the kids' toycar in bright blue, place it in the plastic basket, shift the plastic basket.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the kids' toycar in bright blue with one arm, drop the kids' toycar in bright blue in the bright yellow basket.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Put the toycar with dark gray windows in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Grab the toycar featuring black and white wheels, set it into the bright yellow basket.",
+    "Pick the small plastic toycar, place it in the bright yellow basket.",
+    "Move the kids' toycar in bright blue to the basket with black handle, then shift the basket with black handle.",
+    "Pick the toycar with black wheels, drop the toycar with black wheels in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Put the toycar with dark gray windows in the handheld basket, then move the handheld basket away slightly.",
+    "Use one arm to place the toycar with dark gray windows in the plastic basket, adjust the plastic basket.",
+    "Grab the toycar with dark gray windows, drop it in the basket with black handle, shift the basket with black handle.",
+    "Pick up the toycar with dark gray windows, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the toycar with black wheels, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the blue toycar with yellow roof accents and set it inside the bright yellow basket.",
+    "Grab the plastic toycar with smooth finish, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Pick the plastic toycar with smooth finish, put it inside the rectangular basket with smooth surface.",
+    "Pick up the toycar with black wheels, place it in the yellow basket, grab the yellow basket.",
+    "Pick the hand-sized rolling toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Take the toycar with black wheels, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use one arm to place the plastic toycar with smooth finish in the yellow basket."
+  ],
+  "unseen": [
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode25.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1de143cfdf366bf1ef603253d129c933129af99
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the glossy rectangular playingcards box with one arm, drop the glossy rectangular playingcards box in the handheld basket.",
+    "Lift the hand-sized playingcards container, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick the smooth playingcards pack and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick and move the playingcards storage box, then shift the handheld basket.",
+    "Pick up the small playingcards pack and set it inside the plastic basket.",
+    "Pick the hand-sized playingcards container, put it inside the carrying basket with black plastic handle.",
+    "Place the glossy rectangular playingcards box in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Put the red playingcards box in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Pick the compact red playingcards pack, drop the compact red playingcards pack in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Place the hand-sized playingcards container into the handheld basket and push the handheld basket slightly away.",
+    "Pick up the small playingcards pack and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the red playingcards box, drop it in the plastic basket, shift the plastic basket.",
+    "Put the box for playingcards in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Grab the smooth playingcards pack, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Take the playingcards storage box, put the playingcards storage box into the yellow basket, shift the yellow basket.",
+    "Use one arm to grab the hand-sized playingcards container, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the small playingcards pack, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use one arm to place the small playingcards pack in the carrying basket with black plastic handle.",
+    "Use one arm to place the hand-sized playingcards container in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Use the left arm to pick the yellow and red playingcards box, then use the right arm for the basket with perforated sides.",
+    "Move the compact red playingcards pack to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick up the hand-sized playingcards container, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick up the hand-sized playingcards container, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Pick the compact red playingcards pack, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the hand-sized playingcards container using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Lift the playingcards storage box, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Use the left arm to grab the small playingcards pack, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Grab the compact red playingcards pack, set it into the yellow basket for carrying stuff.",
+    "Grab the glossy rectangular playingcards box, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Take the red playingcards box, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the red playingcards box and drop it in the bright yellow basket.",
+    "Pick the playingcards box with white accents, place it in the medium yellow basket with slots.",
+    "Set the compact red playingcards pack in the yellow basket, and shift the yellow basket away.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the yellow basket for carrying stuff.",
+    "Lift the red and yellow playingcards case, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the glossy rectangular playingcards box and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Pick and move the rectangular playingcards case, then shift the yellow basket for carrying stuff.",
+    "Pick up the compact red playingcards pack and set it inside the rectangular basket with smooth surface.",
+    "Pick the red playingcards box, put it inside the basket with arched black grip.",
+    "Place the smooth playingcards pack in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Put the smooth playingcards pack in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Place the compact red playingcards pack into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Pick up the box for playingcards and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the yellow and red playingcards box, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Put the smooth playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the hand-sized playingcards container, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the yellow and red playingcards box, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Use one arm to place the small playingcards pack in the basket with black handle.",
+    "Use one arm to place the glossy rectangular playingcards box in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the handheld basket.",
+    "Move the playingcards box with white accents to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Pick up the red playingcards box, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick up the compact red playingcards pack, place it in the yellow basket, grab the yellow basket.",
+    "Pick the smooth playingcards pack, place it in the yellow basket, shift the yellow basket.",
+    "Lift the playingcards storage box using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm.",
+    "Lift the yellow and red playingcards box, place it into the basket with black handle, move the basket with black handle.",
+    "Use the left arm to grab the red playingcards box, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Grab the playingcards box with white accents, set it into the bright yellow basket.",
+    "Grab the box for playingcards, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the yellow and red playingcards box, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the red and yellow playingcards case and drop it in the rectangular basket with smooth surface.",
+    "Pick the playingcards storage box, place it in the yellow basket.",
+    "Set the small playingcards pack in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Grab the red and yellow playingcards case with one arm, drop the red and yellow playingcards case in the bright yellow basket.",
+    "Lift the box for playingcards, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Pick the smooth playingcards pack and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick and move the compact red playingcards pack, then shift the rectangular yellow basket.",
+    "Pick up the playingcards storage box and set it inside the basket with perforated sides.",
+    "Pick the box for playingcards, put it inside the yellow basket.",
+    "Place the playingcards storage box in the plastic basket, then grab the plastic basket.",
+    "Put the red and yellow playingcards case in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Place the glossy rectangular playingcards box into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick up the red and yellow playingcards case and drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the hand-sized playingcards container, drop it in the plastic basket, shift the plastic basket.",
+    "Put the small playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the box for playingcards, drop it in the plastic basket, then move the plastic basket.",
+    "Take the box for playingcards, put the box for playingcards into the basket with perforated sides, shift the basket with perforated sides.",
+    "Use one arm to grab the red playingcards box, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the red and yellow playingcards case, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Use one arm to place the compact red playingcards pack in the yellow basket for carrying stuff.",
+    "Use one arm to place the box for playingcards in the yellow basket, adjust the yellow basket.",
+    "Use the left arm to pick the compact red playingcards pack, then use the right arm for the yellow basket.",
+    "Move the box for playingcards to the yellow basket, then shift the yellow basket.",
+    "Pick up the hand-sized playingcards container, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Pick up the hand-sized playingcards container, place it in the handheld basket, grab the handheld basket.",
+    "Pick the box for playingcards, place it in the basket with black handle, shift the basket with black handle.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the small playingcards pack, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Use the left arm to grab the compact red playingcards pack, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Grab the box for playingcards, set it into the basket with black handle.",
+    "Grab the rectangular playingcards case, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the hand-sized playingcards container, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Grab the red and yellow playingcards case and drop it in the bright yellow basket.",
+    "Pick the glossy rectangular playingcards box, place it in the basket with perforated sides.",
+    "Set the compact red playingcards pack in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Grab the playingcards storage box with one arm, drop the playingcards storage box in the yellow basket."
+  ],
+  "unseen": [
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow basket with open slots and move it.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode26.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2cf595d19fe6d1495f0a783726dbea22c44a39b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the compact teal toycar, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Lift the play car in teal and white, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the yellow basket.",
+    "Place the toycar with white roof and teal body in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the compact teal toycar and set it inside the medium yellow basket with slots.",
+    "Pick the light teal toycar with white roof and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Put the small car toy in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Move the compact teal toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the miniature teal vehicle toy, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Lift the miniature teal vehicle toy, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Pick up the mini car toy, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Pick up the small car toy, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Pick the smooth teal car, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Put the mini car toy in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Take the rounded teal car toy, put the rounded teal car toy into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the toycar with glossy finish into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Use the right arm to grab the mini car toy, place it in the rectangular yellow basket, and move the rectangular yellow basket using the left arm.",
+    "Take the miniature teal vehicle toy, set it in the plastic basket, shift the plastic basket lightly.",
+    "Use one arm to place the smooth teal car in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Grab the rounded teal car toy, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Grab the smooth teal car, set it into the handheld basket.",
+    "Use one arm to grab the mini car toy, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Grab the mini car toy and drop it in the rectangular yellow basket.",
+    "Use the right arm to pick the mini car toy, then use the left arm for the basket with black handle.",
+    "Set the toycar with black tires in the basket with black handle, and shift the basket with black handle away.",
+    "Grab the small teal plastic car with windows, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Pick the toycar with black tires, put it inside the bright yellow basket.",
+    "Pick up the smooth teal car and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Lift the smooth teal car using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Use one arm to place the small car toy in the basket with arched black grip.",
+    "Pick the toycar with glossy finish, place it in the basket with perforated sides.",
+    "Pick and move the toycar with black tires, then shift the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the small teal plastic car with windows, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular basket with smooth surface.",
+    "Place the play car in teal and white in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick up the smooth teal car and set it inside the rectangular basket with smooth surface.",
+    "Pick the light teal toycar with white roof and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Put the compact teal toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Move the smooth teal car to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, drop in the yellow basket, and move the yellow basket.",
+    "Lift the play car in teal and white, place it into the basket with black handle, move the basket with black handle.",
+    "Pick up the small car toy, put it in the handheld basket, shift the handheld basket a little.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Pick the light teal toycar with white roof, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Put the compact teal toycar in the plastic basket and pull the plastic basket away.",
+    "Take the small car toy, put the small car toy into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the play car in teal and white into the yellow basket and push the yellow basket slightly away.",
+    "Use the right arm to grab the play car in teal and white, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Take the rounded teal car toy, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Use one arm to place the rounded teal car toy in the yellow basket, adjust the yellow basket.",
+    "Grab the small teal plastic car with windows, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Grab the toycar with white roof and teal body, set it into the handheld basket.",
+    "Use one arm to grab the play car in teal and white, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the play car in teal and white and drop it in the rectangular basket with smooth surface.",
+    "Use the right arm to pick the toycar with white roof and teal body, then use the left arm for the handheld basket.",
+    "Set the small car toy in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Grab the rounded teal car toy, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with white roof and teal body, drop the toycar with white roof and teal body in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Pick the toycar with white roof and teal body, put it inside the bright yellow basket.",
+    "Pick up the miniature teal vehicle toy and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the light teal toycar with white roof using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use one arm to place the compact teal toycar in the yellow basket for carrying stuff.",
+    "Pick the mini car toy, place it in the handheld basket.",
+    "Pick and move the smooth teal car, then shift the basket with black handle.",
+    "Grab the rounded teal car toy, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the play car in teal and white, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Grab the compact teal toycar with one arm, drop the compact teal toycar in the carrying basket with black plastic handle.",
+    "Place the light teal toycar with white roof in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the small teal plastic car with windows and set it inside the carrying basket with black plastic handle.",
+    "Pick the toycar with glossy finish and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Put the toycar with black tires in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Move the play car in teal and white to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the play car in teal and white, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Lift the compact teal toycar, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Pick up the toycar with black tires, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Pick up the toycar with white roof and teal body, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick the miniature teal vehicle toy, place it in the yellow basket, shift the yellow basket.",
+    "Put the small teal plastic car with windows in the plastic basket and pull the plastic basket away.",
+    "Take the light teal toycar with white roof, put the light teal toycar with white roof into the yellow basket, shift the yellow basket.",
+    "Place the toycar with black tires into the yellow basket and push the yellow basket slightly away.",
+    "Use the right arm to grab the rounded teal car toy, place it in the handheld basket, and move the handheld basket using the left arm.",
+    "Take the play car in teal and white, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Use one arm to place the miniature teal vehicle toy in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Grab the toycar with white roof and teal body, place it in the yellow basket, then move the yellow basket away.",
+    "Grab the small teal plastic car with windows, set it into the handheld basket.",
+    "Use one arm to grab the small car toy, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Grab the compact teal toycar and drop it in the handheld basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the rectangular basket with smooth surface.",
+    "Set the compact teal toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the mini car toy, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the play car in teal and white, drop the play car in teal and white in the handheld basket, slide the handheld basket lightly.",
+    "Pick the toycar with glossy finish, put it inside the basket with black handle.",
+    "Pick up the rounded teal car toy and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Lift the compact teal toycar using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Use one arm to place the light teal toycar with white roof in the yellow basket for carrying stuff.",
+    "Pick the toycar with white roof and teal body, place it in the carrying basket with black plastic handle.",
+    "Pick and move the small teal plastic car with windows, then shift the yellow basket for carrying stuff.",
+    "Grab the play car in teal and white, drop it in the basket with arched black grip, shift the basket with arched black grip."
+  ],
+  "unseen": [
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the teal toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic teal car with wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the teal toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode27.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c7c46ff02ced1311174d34b1ccbafaaabac17f
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the oval-shaped basket with woven body.",
+    "Place the palm-sized plastic toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Lift the lightweight toycar, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Set the toycar with smiling face design in the basket for carrying things, and shift the basket for carrying things away.",
+    "Put the blue toycar with white windows in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the plastic toycar, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the toycar with black and orange wheels in the oval-shaped basket with woven body.",
+    "Take the small toycar, put the small toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the lightweight toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the toycar with black and orange wheels, put it inside the brown basket with woven ridges.",
+    "Put the lightweight toycar in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick up the toycar with black and orange wheels and set it inside the light brown oval basket.",
+    "Lift the toycar for kids, place it into the basket for holding items, move the basket for holding items.",
+    "Take the palm-sized plastic toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Move the blue toycar with white windows to the light brown oval basket, then shift the light brown oval basket.",
+    "Use one arm to place the palm-sized plastic toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the toycar for kids, drop the toycar for kids in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the small toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick the toycar with smiling face design and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the small blue car-shaped toycar, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Place the toycar with rounded edges in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the blue toycar with white windows using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Grab the toycar for kids, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use the right arm to grab the toycar for kids, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Pick up the toycar with smiling face design and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the toycar with smiling face design, place it in the woven basket.",
+    "Pick and move the toycar with black and orange wheels, then shift the brown basket.",
+    "Pick up the plastic toycar, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the palm-sized plastic toycar, set it into the basket for carrying things.",
+    "Grab the glossy blue toycar, drop in the basket for holding items, and move the basket for holding items.",
+    "Use the right arm to pick the plastic toycar, then use the left arm for the basket made of woven wood.",
+    "Grab the glossy blue toycar and drop it in the brown basket with woven ridges.",
+    "Use one arm to grab the lightweight toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the small blue car-shaped toycar with one arm, drop the small blue car-shaped toycar in the oval-shaped basket with woven body.",
+    "Place the plastic toycar into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the small blue car-shaped toycar, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Set the small blue car-shaped toycar in the basket for carrying things, and shift the basket for carrying things away.",
+    "Put the blue toycar with white windows in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the bright blue toycar, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the blue toycar with white windows in the basket for carrying things.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the toycar for kids, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick the blue toycar with white windows, put it inside the wooden basket with curved handle.",
+    "Put the toycar with smiling face design in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick up the toycar with rounded edges and set it inside the basket for carrying things.",
+    "Lift the toycar for kids, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Take the glossy blue toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Move the glossy blue toycar to the basket with handle, then shift the basket with handle.",
+    "Use one arm to place the blue toycar with white windows in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick the lightweight toycar, drop the lightweight toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the toycar with rounded edges, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick the small toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick up the toycar with smiling face design, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Place the toycar with rounded edges in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Grab the toycar for kids, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the plastic toycar, place it in the basket for holding items, and move the basket for holding items using the left arm.",
+    "Pick up the palm-sized plastic toycar and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the lightweight toycar, place it in the brown basket with woven ridges.",
+    "Pick and move the toycar with black and orange wheels, then shift the wooden basket with curved handle.",
+    "Pick up the toycar with rounded edges, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the small blue car-shaped toycar, set it into the brown basket with woven ridges.",
+    "Grab the small toycar, drop in the basket with handle, and move the basket with handle.",
+    "Use the right arm to pick the toycar with black and orange wheels, then use the left arm for the wooden basket with curved handle.",
+    "Grab the blue toycar with white windows and drop it in the woven basket.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the toycar with rounded edges with one arm, drop the toycar with rounded edges in the wooden basket with curved handle.",
+    "Place the small blue car-shaped toycar into the basket with handle and push the basket with handle slightly away.",
+    "Lift the toycar with black and orange wheels, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Set the bright blue toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Put the blue toycar with white windows in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the small toycar, drop it in the woven basket, shift the woven basket.",
+    "Use one arm to place the toycar with rounded edges in the smooth ribbed light brown basket.",
+    "Take the lightweight toycar, put the lightweight toycar into the basket with handle, shift the basket with handle.",
+    "Pick the glossy blue toycar, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the plastic toycar, put it inside the brown basket.",
+    "Put the toycar with rounded edges in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the toycar with rounded edges and set it inside the basket with loop handle.",
+    "Lift the glossy blue toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Take the small toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Move the small toycar to the basket for carrying things, then shift the basket for carrying things.",
+    "Use one arm to place the toycar with black and orange wheels in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the small blue car-shaped toycar, drop the small blue car-shaped toycar in the basket with handle, slide the basket with handle lightly.",
+    "Grab the toycar with rounded edges, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick the glossy blue toycar and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the bright blue toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Place the palm-sized plastic toycar in the brown basket, then grab the brown basket.",
+    "Lift the palm-sized plastic toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Grab the glossy blue toycar, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the toycar with rounded edges, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Pick up the small toycar and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with smiling face design, place it in the brown basket.",
+    "Pick and move the glossy blue toycar, then shift the smooth ribbed light brown basket.",
+    "Pick up the palm-sized plastic toycar, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the glossy blue toycar, set it into the basket with loop handle.",
+    "Grab the toycar with rounded edges, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Use the right arm to pick the blue toycar with white windows, then use the left arm for the brown basket with woven ridges.",
+    "Grab the small blue car-shaped toycar and drop it in the basket with loop handle.",
+    "Use one arm to grab the palm-sized plastic toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the small blue car-shaped toycar with one arm, drop the small blue car-shaped toycar in the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and place into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with smooth finish in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with smooth finish, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and place into the medium basket with smooth texture.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and put it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and place into the medium basket with smooth texture.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with orange wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with orange wheels and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with smooth finish in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish and drop in the oval basket with medium storage space.",
+    "Move the toycar with smooth finish to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with orange wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the toycar with orange wheels and drop in the medium basket with smooth texture.",
+    "Move the toycar with orange wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with smooth finish, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with orange wheels and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the blue toycar and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with smooth finish and put it into the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the toycar with smooth finish to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with smooth finish and put it into the basket with rounded edges.",
+    "Pick up the toycar with orange wheels and drop in the oval basket with medium storage space.",
+    "Move the toycar with smooth finish to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and place into the oval basket with medium storage space.",
+    "Pick up the toycar with orange wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the toycar with orange wheels in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the toycar with smooth finish to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and put it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and place into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with smooth finish and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish and drop in the basket with rounded edges.",
+    "Move the toycar with orange wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish and drop in the basket with rounded edges.",
+    "Move the toycar with smooth finish to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode28.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..785360836d279b4316d20604180f313e98559aeb
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the palm-sized blue toycar with one arm, drop the palm-sized blue toycar in the basket for carrying things.",
+    "Lift the bright sleek toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Use one arm to grab the bright sleek toycar, place it in the brown basket, then move the brown basket.",
+    "Pick up the toycar with black tires and set it inside the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the small plastic toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the blue and gray toycar and drop it in the brown basket with woven ridges.",
+    "Lift the bright sleek toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Place the toycar with transparent windshield in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the blue toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick the blue top toycar, put it inside the brown basket with woven ridges.",
+    "Pick the blue and gray toycar, place it in the wooden basket with curved handle.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the bright sleek toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the blue top toycar, drop in the basket with handle, and move the basket with handle.",
+    "Take the toycar with black tires, put the toycar with black tires into the brown basket, shift the brown basket.",
+    "Grab the toycar with shiny plastic finish, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Place the toycar with black tires into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Put the toycar with shiny plastic finish in the woven basket and pull the woven basket away.",
+    "Use one arm to place the toycar with shiny wheels in the brown basket with woven ridges.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use the right arm to pick the toycar with transparent windshield, then use the left arm for the basket made of woven wood.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Use one arm to place the bright sleek toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the palm-sized blue toycar, set it into the basket with handle.",
+    "Pick up the blue toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use the right arm to grab the palm-sized blue toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Pick up the blue top toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Move the toycar with black tires to the basket for holding items, then shift the basket for holding items.",
+    "Pick up the toycar with smooth texture, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the toycar with shiny wheels, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Set the small plastic toycar in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the woven basket.",
+    "Lift the toycar for kids play, place it into the basket with handle, move the basket with handle.",
+    "Use one arm to grab the toycar for kids play, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the toycar with shiny wheels and set it inside the basket with handle.",
+    "Pick the blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the bright sleek toycar in the woven basket, then move the woven basket away slightly.",
+    "Grab the small plastic toycar and drop it in the basket for holding items.",
+    "Lift the small plastic toycar, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Place the toycar for kids play in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Take the blue top toycar, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the palm-sized blue toycar, put it inside the woven basket.",
+    "Pick the toycar for kids play, place it in the wooden basket with curved handle.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the brown basket, slide the brown basket lightly.",
+    "Pick the bright sleek toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the bright sleek toycar, drop in the basket for holding items, and move the basket for holding items.",
+    "Take the blue top toycar, put the blue top toycar into the brown basket, shift the brown basket.",
+    "Grab the blue toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Place the small plastic toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Put the small plastic toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the toycar with black tires in the basket made of woven wood.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Use the right arm to pick the toycar with shiny plastic finish, then use the left arm for the light brown oval basket.",
+    "Pick and move the small plastic toycar, then shift the basket with handle.",
+    "Use one arm to place the toycar with shiny wheels in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the toycar with smooth texture, set it into the wooden basket with curved handle.",
+    "Pick up the toycar with black tires, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use the right arm to grab the palm-sized blue toycar, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Pick up the toycar with shiny wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the toycar with black tires to the brown basket, then shift the brown basket.",
+    "Pick up the bright sleek toycar, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the toycar for kids play, drop it in the basket for holding items, shift the basket for holding items.",
+    "Set the blue top toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Grab the bright sleek toycar with one arm, drop the bright sleek toycar in the basket for carrying things.",
+    "Lift the palm-sized blue toycar, place it into the woven basket, move the woven basket.",
+    "Use one arm to grab the small plastic toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the bright sleek toycar and set it inside the basket for holding items.",
+    "Pick the blue top toycar, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Put the blue and gray toycar in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the palm-sized blue toycar and drop it in the basket with loop handle.",
+    "Lift the toycar with black tires, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Place the palm-sized blue toycar in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the blue toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the small plastic toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the small plastic toycar, put it inside the woven basket.",
+    "Pick the toycar with black tires, place it in the brown basket.",
+    "Pick the toycar with smooth texture, drop the toycar with smooth texture in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the blue top toycar and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the blue top toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Take the toycar with transparent windshield, put the toycar with transparent windshield into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the toycar with smooth texture, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Place the toycar with transparent windshield into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Put the blue toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Use one arm to place the blue toycar in the basket with handle.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use the right arm to pick the toycar with transparent windshield, then use the left arm for the brown basket.",
+    "Pick and move the blue toycar, then shift the basket made of woven wood.",
+    "Use one arm to place the palm-sized blue toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, set it into the basket for holding items.",
+    "Pick up the small plastic toycar, put it in the basket with handle, shift the basket with handle a little.",
+    "Use the right arm to grab the blue and gray toycar, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Pick up the blue and gray toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Move the toycar for kids play to the basket with handle, then shift the basket with handle.",
+    "Pick up the toycar with transparent windshield, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Grab the toycar with smooth texture, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Set the blue toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the woven basket."
+  ],
+  "unseen": [
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode29.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b289149d21ed25607b5206e3f7dc41a7da9461
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the black playing cards box, then use the left arm for the plastic basket.",
+    "Lift the cardboard playing cards box using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Move the playing cards box with gold text to the basket with black handle, then shift the basket with black handle.",
+    "Grab the palm-sized box for playing cards and drop it in the yellow basket.",
+    "Pick up the black playing cards box, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Put the small black box with cards in the yellow basket, then move the yellow basket away slightly.",
+    "Pick and move the black box with rectangular shape, then shift the bright yellow basket.",
+    "Grab the black box with rectangular shape, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Grab the smooth black cards container, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Pick the black box with rectangular shape, place it in the basket with arched black grip.",
+    "Set the black playing cards box in the bright yellow basket, and shift the bright yellow basket away.",
+    "Pick up the rectangular box for card storage and set it inside the basket with black handle.",
+    "Pick the box holding playing cards, put it inside the basket with arched black grip.",
+    "Take the cardboard playing cards box, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Put the black box with rectangular shape in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick up the cardboard playing cards box, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the black playing cards box, set it into the handheld basket.",
+    "Place the black box with rectangular shape into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Place the box with cards inside in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the handheld basket.",
+    "Take the black playing cards box, put the black playing cards box into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Lift the smooth black cards container, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Use the right arm to grab the box with cards inside, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick the cardboard playing cards box and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the compact box for playing cards, drop the compact box for playing cards in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick the rectangle-shaped cards box, place it in the yellow basket, shift the yellow basket.",
+    "Use one arm to place the smooth black cards container in the yellow basket, adjust the yellow basket.",
+    "Grab the black box with rectangular shape, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Use one arm to grab the playing cards box with gold text, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the playing cards box with gold text and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Use one arm to place the palm-sized box for playing cards in the yellow basket for carrying stuff.",
+    "Grab the box with cards inside, drop it in the plastic basket, then move the plastic basket.",
+    "Lift the rectangle-shaped cards box, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Use the right arm to pick the smooth black cards container, then use the left arm for the yellow basket.",
+    "Lift the compact box for playing cards using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Move the rectangular box for card storage to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the palm-sized box for playing cards and drop it in the carrying basket with black plastic handle.",
+    "Pick up the rectangular box for card storage, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Put the smooth black cards container in the yellow basket, then move the yellow basket away slightly.",
+    "Pick and move the black box with rectangular shape, then shift the basket with perforated sides.",
+    "Grab the box with cards inside, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Grab the compact box for playing cards, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick the small black box with cards, place it in the rectangular basket with smooth surface.",
+    "Set the black playing cards box in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Pick up the small black box with cards and set it inside the handheld basket.",
+    "Pick the small black box with cards, put it inside the basket with black handle.",
+    "Take the compact box for playing cards, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Put the compact box for playing cards in the handheld basket and pull the handheld basket away.",
+    "Pick up the box holding playing cards, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the smooth black cards container, set it into the carrying basket with black plastic handle.",
+    "Place the black box with rectangular shape into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Place the rectangle-shaped cards box in the yellow basket, then grab the yellow basket.",
+    "Grab the rectangular box for card storage with one arm, drop the rectangular box for card storage in the rectangular basket with smooth surface.",
+    "Take the box holding playing cards, put the box holding playing cards into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the small black box with cards, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Use the right arm to grab the box holding playing cards, place it in the basket with arched black grip, and move the basket with arched black grip using the left arm.",
+    "Pick the box with cards inside and position it in the handheld basket, move the handheld basket slightly.",
+    "Pick the box with cards inside, drop the box with cards inside in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Pick the box with cards inside, place it in the plastic basket, shift the plastic basket.",
+    "Use one arm to place the rectangle-shaped cards box in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Grab the compact box for playing cards, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to grab the black playing cards box, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the playing cards box with gold text and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Use one arm to place the rectangle-shaped cards box in the plastic basket.",
+    "Grab the black box with rectangular shape, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the small black box with cards, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the bright yellow basket.",
+    "Lift the rectangle-shaped cards box using the right arm, drop it in the plastic basket, then push the plastic basket via the left arm.",
+    "Move the rectangular box for card storage to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Grab the smooth black cards container and drop it in the basket with black handle.",
+    "Pick up the rectangle-shaped cards box, place it in the basket with black handle, grab the basket with black handle.",
+    "Put the small black box with cards in the handheld basket, then move the handheld basket away slightly.",
+    "Pick and move the rectangle-shaped cards box, then shift the bright yellow basket.",
+    "Grab the compact box for playing cards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Grab the playing cards box with gold text, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Pick the rectangular box for card storage, place it in the rectangular basket with smooth surface.",
+    "Set the playing cards box with gold text in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Pick up the black box with rectangular shape and set it inside the handheld basket.",
+    "Pick the rectangular box for card storage, put it inside the basket with arched black grip.",
+    "Take the compact box for playing cards, set it in the yellow basket, shift the yellow basket lightly.",
+    "Put the smooth black cards container in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Pick up the black playing cards box, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the box with cards inside, set it into the yellow basket for carrying stuff.",
+    "Place the box holding playing cards into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Place the rectangular box for card storage in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the basket with black handle.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the yellow basket, shift the yellow basket.",
+    "Lift the palm-sized box for playing cards, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick the black box with rectangular shape and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Pick the rectangle-shaped cards box, place it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the small black box with cards in the yellow basket, adjust the yellow basket.",
+    "Grab the cardboard playing cards box, drop it in the plastic basket, shift the plastic basket.",
+    "Use one arm to grab the compact box for playing cards, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the box holding playing cards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the cardboard playing cards box in the medium yellow basket with slots.",
+    "Grab the black playing cards box, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the playing cards box with gold text, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the yellow basket for carrying stuff."
+  ],
+  "unseen": [
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the medium-sized basket with perforated texture and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode3.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef7d6348b931e0135ecb21e28a9f02d5df4e718
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact glossy blue toycar, put it inside the basket with black handle.",
+    "Take the small plastic toycar, put the small plastic toycar into the basket with black handle, shift the basket with black handle.",
+    "Use the left arm to pick the kids' toycar in bright blue, then use the right arm for the rectangular yellow basket.",
+    "Use the left arm to grab the toycar with black wheels, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Pick up the toycar made of plastic material, put it in the basket with black handle, shift the basket with black handle a little.",
+    "Grab the toycar with rounded edges, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to grab the plastic toycar with smooth finish, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Grab the small plastic toycar, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Grab the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Take the hand-sized rolling toycar, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick the toycar featuring black and white wheels, place it in the yellow basket, shift the yellow basket.",
+    "Pick up the toycar with dark gray windows and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the toycar with rounded edges and position it in the basket with black handle, move the basket with black handle slightly.",
+    "Grab the plastic toycar with smooth finish and drop it in the medium yellow basket with slots.",
+    "Lift the bright blue toycar with roof buttons using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Pick the toycar made of plastic material, place it in the basket with black handle.",
+    "Place the blue toycar with yellow roof accents in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Put the hand-sized rolling toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Set the compact glossy blue toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Lift the small plastic toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Pick up the small plastic toycar and set it inside the basket with black handle.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the toycar with dark gray windows with one arm, drop the toycar with dark gray windows in the bright yellow basket.",
+    "Put the hand-sized rolling toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Lift the blue toycar with yellow roof accents, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Place the toycar featuring black and white wheels into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the bright blue toycar with roof buttons, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to place the small plastic toycar in the yellow basket for carrying stuff.",
+    "Pick and move the toycar with rounded edges, then shift the medium yellow basket with slots.",
+    "Grab the toycar featuring black and white wheels, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff.",
+    "Grab the toycar made of plastic material, set it into the medium yellow basket with slots.",
+    "Use one arm to place the toycar made of plastic material in the yellow basket, adjust the yellow basket.",
+    "Move the bright blue toycar with roof buttons to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with arched black grip.",
+    "Take the toycar with black wheels, put the toycar with black wheels into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use the left arm to pick the hand-sized rolling toycar, then use the right arm for the carrying basket with black plastic handle.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Pick up the blue toycar with yellow roof accents, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the plastic toycar with smooth finish, drop it in the plastic basket, then move the plastic basket.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the kids' toycar in bright blue, drop it in the plastic basket, shift the plastic basket.",
+    "Grab the plastic toycar with smooth finish, place it in the handheld basket, then move the handheld basket away.",
+    "Take the bright blue toycar with roof buttons, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the small plastic toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with rounded edges and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the bright blue toycar with roof buttons and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Grab the hand-sized rolling toycar and drop it in the plastic basket.",
+    "Lift the compact glossy blue toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with perforated sides.",
+    "Place the bright blue toycar with roof buttons in the plastic basket, then grab the plastic basket.",
+    "Put the toycar with black wheels in the bright yellow basket and pull the bright yellow basket away.",
+    "Set the kids' toycar in bright blue in the yellow basket, and shift the yellow basket away.",
+    "Lift the bright blue toycar with roof buttons, place it into the basket with black handle, move the basket with black handle.",
+    "Pick up the kids' toycar in bright blue and set it inside the carrying basket with black plastic handle.",
+    "Pick the toycar featuring black and white wheels, drop the toycar featuring black and white wheels in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the carrying basket with black plastic handle.",
+    "Put the toycar featuring black and white wheels in the handheld basket, then move the handheld basket away slightly.",
+    "Lift the toycar with rounded edges, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Place the blue toycar with yellow roof accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick up the toycar with dark gray windows, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Use one arm to place the kids' toycar in bright blue in the basket with arched black grip.",
+    "Pick and move the kids' toycar in bright blue, then shift the yellow basket for carrying stuff.",
+    "Grab the toycar with black wheels, drop in the handheld basket, and move the handheld basket.",
+    "Grab the toycar with rounded edges, set it into the bright yellow basket.",
+    "Use one arm to place the kids' toycar in bright blue in the bright yellow basket, adjust the bright yellow basket.",
+    "Move the hand-sized rolling toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the compact glossy blue toycar, put it inside the medium yellow basket with slots.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the basket with black handle, shift the basket with black handle.",
+    "Use the left arm to pick the toycar with rounded edges, then use the right arm for the basket with perforated sides.",
+    "Use the left arm to grab the toycar featuring black and white wheels, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Pick up the bright blue toycar with roof buttons, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the kids' toycar in bright blue, drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to grab the small plastic toycar, place it in the handheld basket, then move the handheld basket.",
+    "Grab the toycar made of plastic material, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Grab the kids' toycar in bright blue, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the bright blue toycar with roof buttons, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the toycar with black wheels, place it in the plastic basket, shift the plastic basket.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick the bright blue toycar with roof buttons and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Grab the toycar featuring black and white wheels and drop it in the basket with black handle.",
+    "Lift the toycar with rounded edges using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Pick the compact glossy blue toycar, place it in the basket with arched black grip.",
+    "Place the kids' toycar in bright blue in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Put the compact glossy blue toycar in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Set the plastic toycar with smooth finish in the bright yellow basket, and shift the bright yellow basket away.",
+    "Lift the toycar made of plastic material, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick up the blue toycar with yellow roof accents and set it inside the plastic basket.",
+    "Pick the bright blue toycar with roof buttons, drop the bright blue toycar with roof buttons in the basket with black handle, slide the basket with black handle lightly.",
+    "Grab the plastic toycar with smooth finish with one arm, drop the plastic toycar with smooth finish in the bright yellow basket.",
+    "Put the toycar featuring black and white wheels in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Lift the toycar with black wheels, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Place the toycar with black wheels into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Pick up the toycar with dark gray windows, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Use one arm to place the small plastic toycar in the carrying basket with black plastic handle.",
+    "Pick and move the toycar with rounded edges, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar featuring black and white wheels, drop in the yellow basket, and move the yellow basket.",
+    "Grab the small plastic toycar, set it into the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar with dark gray windows in the basket with black handle, adjust the basket with black handle.",
+    "Move the toycar with dark gray windows to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with black handle."
+  ],
+  "unseen": [
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode30.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a7b4468b22a6abf78595c8c11a3e9a5c69c60e
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the blue carton for playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the box of playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket for holding items.",
+    "Place the blue and white playingcards packaging in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Move the card box with golden designs to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the wooden basket with curved handle.",
+    "Pick and move the card box with golden designs, then shift the basket for carrying things.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the light brown oval basket.",
+    "Take the small playingcards container, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket, then move the brown basket.",
+    "Lift the blue pack holding playingcards using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use one arm to place the blue pack holding playingcards in the wooden basket with curved handle.",
+    "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 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 and pull the woven basket away.",
+    "Pick up the playingcards pack with blue top, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for holding items.",
+    "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.",
+    "Grab the small playingcards container, set it into the smooth ribbed light brown basket.",
+    "Put the box of playingcards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Set the playingcards pack with blue top in the basket with handle, and shift the basket with handle away.",
+    "Use one arm to place the playingcards box with white symbols in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the blue and white playingcards packaging and drop it in the woven basket.",
+    "Place the smooth playingcards holder into the woven basket and push the woven basket slightly away.",
+    "Grab the blue carton for playingcards, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the card box with golden designs, put it inside the basket for carrying things.",
+    "Use the right 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 left arm.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue carton for playingcards, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the smooth playingcards holder, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the smooth playingcards holder, place it into the brown basket, move the brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the basket with handle, grab the basket with handle.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the brown basket, shift the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the brown basket.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the playingcards pack with blue top to the basket for carrying things, then shift the basket for carrying things.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood.",
+    "Pick and move the playingcards box with white symbols, then shift the wooden basket with curved handle.",
+    "Use the right arm to pick the blue and white playingcards packaging, then use the left arm for the woven basket.",
+    "Take the rectangular blue playingcards case, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the rectangular blue playingcards case using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use one arm to place the box of playingcards in the brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the blue pack holding playingcards, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Put the blue carton for playingcards in the basket with handle and pull the basket with handle away.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Pick up the smooth playingcards holder and set it inside the wooden basket with curved handle.",
+    "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.",
+    "Grab the card box with golden designs, set it into the brown basket with woven ridges.",
+    "Put the blue and white playingcards packaging in the brown basket, then move the brown basket away slightly.",
+    "Set the smooth playingcards holder in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the smooth playingcards holder in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case and drop it in the basket for carrying things.",
+    "Place the palm-sized playingcards carton into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the blue playingcards box, put it inside the basket made of woven wood.",
+    "Use the right arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Pick the blue carton for playingcards and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Lift the blue pack holding playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the playingcards pack with blue top, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the blue playingcards box, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Take the small playingcards container, put the small playingcards container into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with loop handle.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "Pick the playingcards pack with blue top, place it in the basket for holding items.",
+    "Pick and move the palm-sized playingcards carton, then shift the smooth ribbed light brown basket.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the basket for holding items.",
+    "Take the palm-sized playingcards carton, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the blue playingcards box using the right arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the left arm.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop it in the brown basket, shift the brown basket.",
+    "Grab the playingcards box with white symbols, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the small playingcards container, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick up the box of playingcards and set it inside 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 blue and white playingcards packaging, set it into 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.",
+    "Set the playingcards box with white symbols in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the playingcards pack with blue top in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Place the blue playingcards box into the basket for holding items and push the basket for holding items slightly away.",
+    "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.",
+    "Pick up the playingcards box with white symbols and drop it in the woven basket, then move the woven basket.",
+    "Pick the card box with golden designs, put it inside the basket for holding items.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "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.",
+    "Pick the card box with golden designs, place it in the basket for holding items, shift the basket for holding items.",
+    "Lift the card box with golden designs, drop it in the woven basket, then slightly relocate the woven basket."
+  ],
+  "unseen": [
+    "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 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 and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, 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.",
+    "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 medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the 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.",
+    "Pick up the rectangular playingcards pack 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 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.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the 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 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.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "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 basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the 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 put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the 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 basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the 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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, 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.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "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 small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards 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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, 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.",
+    "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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "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 basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the 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 in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "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 oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode31.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..317b181b01bbd5b56007602a31587a2f91dab998
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket for carrying things.",
+    "Use one arm to place the toycar with smooth texture in the basket for carrying things.",
+    "Pick up the toycar with shiny wheels, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use one arm to grab the toycar with shiny plastic finish, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the toycar with transparent windshield, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Grab the small plastic toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Take the blue toycar, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue and gray toycar, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the blue toycar in the basket with handle, then grab the basket with handle.",
+    "Grab the bright sleek toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with transparent windshield, put it inside the woven basket.",
+    "Move the bright sleek toycar to the brown basket, then shift the brown basket.",
+    "Lift the blue and gray toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use one arm to place the blue and gray toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick the bright sleek toycar, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Lift the blue top toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the toycar for kids play and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the toycar for kids play with one arm, drop the toycar for kids play in the basket made of woven wood.",
+    "Pick the blue and gray toycar, place it in the basket with loop handle.",
+    "Grab the toycar with shiny plastic finish and drop it in the light brown oval basket.",
+    "Pick the palm-sized blue toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the toycar for kids play into the basket with handle and push the basket with handle slightly away.",
+    "Set the toycar with shiny plastic finish in the brown basket, and shift the brown basket away.",
+    "Pick the blue top toycar, drop the blue top toycar in the basket for holding items, slide the basket for holding items lightly.",
+    "Grab the blue toycar, set it into the woven basket.",
+    "Pick up the small plastic toycar, place it in the basket for holding items, grab the basket for holding items.",
+    "Use the left arm to grab the bright sleek toycar, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the basket with handle, shift the basket with handle.",
+    "Put the toycar with transparent windshield in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the blue and gray toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick and move the small plastic toycar, then shift the woven basket.",
+    "Pick up the blue and gray toycar and set it inside the light brown oval basket.",
+    "Grab the toycar with shiny plastic finish, drop in the woven basket, and move the woven basket.",
+    "Use the left arm to pick the toycar with black tires, then use the right arm for the wooden basket with curved handle.",
+    "Use one arm to place the palm-sized blue toycar in the basket with handle.",
+    "Pick up the toycar with transparent windshield, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Use one arm to grab the blue toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Lift the blue top toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Grab the small plastic toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Take the bright sleek toycar, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the toycar with smooth texture, drop it in the basket for holding items, shift the basket for holding items.",
+    "Place the toycar with black tires in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, drop it in the brown basket, then move the brown basket.",
+    "Pick the bright sleek toycar, put it inside the basket with handle.",
+    "Move the bright sleek toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Lift the toycar with shiny plastic finish 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.",
+    "Use one arm to place the toycar for kids play in the woven basket, adjust the woven basket.",
+    "Pick the blue top toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Lift the toycar with black tires, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the palm-sized blue toycar and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the basket made of woven wood.",
+    "Pick the blue toycar, place it in the basket with loop handle.",
+    "Grab the toycar with shiny plastic finish and drop it in the basket for holding items.",
+    "Pick the toycar with transparent windshield and position it in the brown basket, move the brown basket slightly.",
+    "Place the palm-sized blue toycar into the basket with handle and push the basket with handle slightly away.",
+    "Set the blue and gray toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the toycar with black tires, set it into the brown basket.",
+    "Pick up the palm-sized blue toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Use the left arm to grab the blue and gray toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Take the toycar with black tires, put the toycar with black tires into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue toycar in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Put the toycar with shiny wheels in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick and move the toycar for kids play, then shift the basket for carrying things.",
+    "Pick up the bright sleek toycar and set it inside the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, drop in the basket for holding items, and move the basket for holding items.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket for holding items.",
+    "Use one arm to place the small plastic toycar in the basket for carrying things.",
+    "Pick up the bright sleek toycar, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Use one arm to grab the blue toycar, place it in the woven basket, then move the woven basket.",
+    "Lift the palm-sized blue toycar, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the small plastic toycar, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Take the blue toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Grab the toycar with black tires, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Place the toycar for kids play in the basket for carrying things, then grab the basket for carrying things.",
+    "Grab the toycar for kids play, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the palm-sized blue toycar, put it inside the basket for holding items.",
+    "Move the toycar with shiny wheels to the basket with loop handle, then shift the basket with loop handle.",
+    "Lift the blue and gray toycar using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Use one arm to place the bright sleek toycar in the brown basket, adjust the brown basket.",
+    "Pick the palm-sized blue toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Lift the toycar with smooth texture, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the toycar with shiny plastic finish with one arm, drop the toycar with shiny plastic finish in the brown basket.",
+    "Pick the toycar with shiny wheels, place it in the woven basket.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Pick the toycar with shiny wheels and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the palm-sized blue toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Set the palm-sized blue toycar in the basket with handle, and shift the basket with handle away.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the woven basket, slide the woven basket lightly.",
+    "Grab the toycar with black tires, set it into the oval-shaped basket with woven body.",
+    "Pick up the toycar with transparent windshield, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use the left arm to grab the toycar with black tires, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the basket for holding items, shift the basket for holding items.",
+    "Put the toycar with transparent windshield in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the palm-sized blue toycar in the basket with handle and pull the basket with handle away.",
+    "Pick and move the toycar with shiny wheels, then shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with transparent windshield and set it inside the woven basket.",
+    "Grab the blue top toycar, drop in the basket with handle, and move the basket with handle.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the brown basket."
+  ],
+  "unseen": [
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode32.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f160d882f5b76cbc30cc0217731c1ce12e061a3
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small toycar for kids play, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the toycar with rounded compact shape, put it inside the basket with handle.",
+    "Place the toycar with purple tinted windows into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the pink toycar shaped like real car, place it in the basket for carrying things.",
+    "Use one arm to place the toycar with rounded compact shape in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the miniature pink car with black wheels in the basket with handle and pull the basket with handle away.",
+    "Pick the pink toycar shaped like real car, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the miniature pink car with black wheels, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Lift the hand-sized toycar with white roof bars, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the small toycar for kids play with one arm, drop the small toycar for kids play in the woven basket.",
+    "Pick and move the toycar with purple tinted windows, then shift the basket with loop handle.",
+    "Take the pink toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Use the left arm to grab the pink car with purple windows, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick up the small toycar for kids play, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the pink car with purple windows in the basket with loop handle.",
+    "Grab the toycar with rounded compact shape and drop it in the light brown oval basket.",
+    "Pick the pink toycar, drop the pink toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the toycar with rounded compact shape, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the toycar with rounded compact shape, set it into the woven basket.",
+    "Grab the small toycar for kids play, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the pink toycar with rounded corners and position it in the basket with handle, move the basket with handle slightly.",
+    "Use the left arm to pick the toycar with rounded compact shape, then use the right arm for the basket for holding items.",
+    "Lift the hand-sized toycar with white roof bars using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the pink toycar, drop it in the woven basket, shift the woven basket.",
+    "Set the small pink car with smooth texture in the basket for carrying things, and shift the basket for carrying things away.",
+    "Place the hand-sized toycar with white roof bars in the basket with loop handle, then grab the basket with loop handle.",
+    "Put the miniature pink car with black wheels in the basket with handle, then move the basket with handle away slightly.",
+    "Take the small pink car with smooth texture, put the small pink car with smooth texture into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the toycar with purple tinted windows and set it inside the brown basket.",
+    "Move the pink car with purple windows to the basket with loop handle, then shift the basket with loop handle.",
+    "Use one arm to grab the toycar made from smooth plastic, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the pink toycar with rounded corners and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the toycar with purple tinted windows, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the miniature pink car with black wheels, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Pick the small pink car with smooth texture, put it inside the basket with loop handle.",
+    "Place the pink toycar into the woven basket and push the woven basket slightly away.",
+    "Pick the miniature pink car with black wheels, place it in the smooth ribbed light brown basket.",
+    "Use one arm to place the pink car with purple windows in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Put the toycar with rounded compact shape in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the pink toycar, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the pink car with purple windows, put it in the woven basket, shift the woven basket a little.",
+    "Lift the small pink car with smooth texture, place it into the basket for carrying things, move the basket for carrying things.",
+    "Grab the small pink plastic toycar with one arm, drop the small pink plastic toycar in the basket for carrying things.",
+    "Pick and move the miniature pink car with black wheels, then shift the woven basket.",
+    "Take the pink toycar with rounded corners, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use the left arm to grab the pink toycar shaped like real car, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the toycar made from smooth plastic, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the pink toycar shaped like real car in the brown basket.",
+    "Grab the pink toycar and drop it in the brown basket with woven ridges.",
+    "Pick the pink toycar shaped like real car, drop the pink toycar shaped like real car in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the hand-sized toycar with white roof bars, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the pink toycar with rounded corners, set it into the basket with handle.",
+    "Grab the pink car with purple windows, drop in the basket with handle, and move the basket with handle.",
+    "Pick the pink toycar with rounded corners and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to pick the pink toycar shaped like real car, then use the right arm for the basket with loop handle.",
+    "Lift the pink toycar with rounded corners 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 small toycar for kids play, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Set the small pink car with smooth texture in the basket with loop handle, and shift the basket with loop handle away.",
+    "Place the pink toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Put the small pink car with smooth texture in the basket for holding items, then move the basket for holding items away slightly.",
+    "Take the small toycar for kids play, put the small toycar for kids play into the woven basket, shift the woven basket.",
+    "Pick up the toycar with purple tinted windows and set it inside the basket for carrying things.",
+    "Move the small pink car with smooth texture to the brown basket, then shift the brown basket.",
+    "Use one arm to grab the toycar with rounded compact shape, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick up the toycar with rounded compact shape and drop it in the woven basket, then move the woven basket.",
+    "Grab the small toycar for kids play, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the toycar made from smooth plastic, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the small pink plastic toycar, put it inside the wooden basket with curved handle.",
+    "Place the pink toycar shaped like real car into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the miniature pink car with black wheels, place it in the wooden basket with curved handle.",
+    "Use one arm to place the toycar made from smooth plastic in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the pink toycar shaped like real car in the basket for holding items and pull the basket for holding items away.",
+    "Pick the small pink plastic toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the toycar with rounded compact shape, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Lift the toycar made from smooth plastic, place it into the brown basket, move the brown basket.",
+    "Grab the pink car with purple windows with one arm, drop the pink car with purple windows in the smooth ribbed light brown basket.",
+    "Pick and move the pink toycar shaped like real car, then shift the basket for carrying things.",
+    "Take the pink car with purple windows, set it in the woven basket, shift the woven basket lightly.",
+    "Use the left arm to grab the pink toycar with rounded corners, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the miniature pink car with black wheels, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use one arm to place the toycar with purple tinted windows in the brown basket.",
+    "Grab the small toycar for kids play and drop it in the basket with loop handle.",
+    "Pick the small pink car with smooth texture, drop the small pink car with smooth texture in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the hand-sized toycar with white roof bars, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the small pink car with smooth texture, set it into the brown basket.",
+    "Grab the toycar made from smooth plastic, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the pink toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use the left arm to pick the small pink plastic toycar, then use the right arm for the basket for holding items.",
+    "Lift the hand-sized toycar with white roof bars using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Grab the pink car with purple windows, drop it in the basket for holding items, shift the basket for holding items.",
+    "Set the pink car with purple windows in the basket with handle, and shift the basket with handle away.",
+    "Place the small pink car with smooth texture in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Put the pink toycar shaped like real car in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Take the miniature pink car with black wheels, put the miniature pink car with black wheels into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with purple tinted windows and set it inside the basket made of woven wood.",
+    "Move the toycar made from smooth plastic to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the miniature pink car with black wheels, place it in the woven basket, then move the woven basket.",
+    "Pick up the hand-sized toycar with white roof bars and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the pink toycar shaped like real car, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the miniature pink car with black wheels, drop it in the basket for carrying things, then slightly relocate the basket for carrying things."
+  ],
+  "unseen": [
+    "Pick up the pink toycar with white bumper, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the pink toycar with white bumper to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the pink toycar with white bumper in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the pink toycar with white bumper, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the pink toycar with white bumper in the basket with rounded edges and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the pink toycar with white bumper and drop in the medium basket with smooth texture.",
+    "Pick up the tiny pink car with four wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the pink toycar with white bumper to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the tiny pink car with four wheels in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the pink toycar with white bumper to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and place into the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the pink toycar with white bumper and drop in the basket with rounded edges.",
+    "Pick up the pink toycar with white bumper, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it in the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and place into the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it into the basket with rounded edges.",
+    "Pick up the tiny pink car with four wheels and drop in the basket with rounded edges.",
+    "Pick up the pink toycar with white bumper, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the tiny pink car with four wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the compact toycar with shiny black tires in the basket with rounded edges and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels and place into the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the tiny pink car with four wheels and drop in the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the tiny pink car with four wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the pink toycar with white bumper in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the pink toycar with white bumper and place into the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper and put it into the basket with rounded edges.",
+    "Pick up the tiny pink car with four wheels and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with shiny black tires to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the compact toycar with shiny black tires in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and place into the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it in the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it into the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the tiny pink car with four wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the tiny pink car with four wheels in the basket with rounded edges and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode33.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..5263839b7e54ab94c7a1e718d4ec7332be784c76
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the toycar with black tires, put it inside the basket with handle.",
+    "Grab the toycar for kids play with one arm, drop the toycar for kids play in the basket for carrying things.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the woven basket, shift the woven basket.",
+    "Grab the blue top toycar, drop in the woven basket, and move the woven basket.",
+    "Lift the toycar with smooth texture, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Place the small plastic toycar in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick and move the toycar with shiny wheels, then shift the woven basket.",
+    "Use one arm to place the blue toycar in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick up the blue top toycar and drop it in the brown basket, then move the brown basket.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket with handle, slide the basket with handle lightly.",
+    "Use one arm to grab the blue and gray toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the toycar with smooth texture, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the bright sleek toycar and drop it in the basket with handle.",
+    "Place the blue toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Grab the toycar with black tires, set it into the oval-shaped basket with woven body.",
+    "Put the bright sleek toycar in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Set the blue top toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the toycar with shiny plastic finish, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick the small plastic toycar and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Put the toycar with shiny wheels in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick up the toycar with shiny plastic finish and set it inside the light brown oval basket.",
+    "Grab the toycar with shiny wheels, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Use one arm to place the blue toycar in the woven basket.",
+    "Lift the blue and gray toycar, place it into the basket with handle, move the basket with handle.",
+    "Use the left arm to grab the blue and gray toycar, 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 blue toycar, then use the right arm for the oval-shaped basket with woven body.",
+    "Grab the toycar with smooth texture, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the small plastic toycar, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the bright sleek toycar to the brown basket, then shift the brown basket.",
+    "Lift the toycar with black tires using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Take the toycar with shiny wheels, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Pick the toycar with transparent windshield, place it in the basket for carrying things.",
+    "Pick the toycar with smooth texture, place it in the woven basket, shift the woven basket.",
+    "Pick the toycar for kids play, put it inside the brown basket with woven ridges.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the smooth ribbed light brown basket.",
+    "Take the blue top toycar, put the blue top toycar into the woven basket, shift the woven basket.",
+    "Grab the blue top toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the blue and gray toycar, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Place the blue toycar in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Use one arm to place the toycar with transparent windshield in the woven basket, adjust the woven basket.",
+    "Pick up the blue toycar and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the blue toycar, drop the blue toycar in the brown basket, slide the brown basket lightly.",
+    "Use one arm to grab the blue toycar, place it in the woven basket, then move the woven basket.",
+    "Pick up the blue top toycar, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the toycar with smooth texture and drop it in the basket made of woven wood.",
+    "Place the blue top toycar into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the toycar for kids play, set it into the brown basket with woven ridges.",
+    "Put the toycar for kids play in the woven basket, then move the woven basket away slightly.",
+    "Set the toycar with black tires in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick up the small plastic toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick the toycar with smooth texture and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Put the toycar with smooth texture in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the blue top toycar and set it inside the woven basket.",
+    "Grab the palm-sized blue toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use one arm to place the toycar with shiny plastic finish in the oval-shaped basket with woven body.",
+    "Lift the blue top toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Use the left arm to grab the toycar with shiny plastic finish, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the brown basket with woven ridges.",
+    "Grab the toycar with shiny plastic finish, drop it in the woven basket, shift the woven basket.",
+    "Grab the toycar with smooth texture, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Move the bright sleek toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Take the bright sleek toycar, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick the blue toycar, place it in the wooden basket with curved handle.",
+    "Pick the toycar with transparent windshield, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the toycar with shiny wheels, put it inside the basket for holding items.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket for carrying things.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Grab the blue toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Lift the toycar with shiny plastic finish, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Place the blue and gray toycar in the brown basket, then grab the brown basket.",
+    "Pick and move the toycar for kids play, then shift the smooth ribbed light brown basket.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the blue toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick the bright sleek toycar, drop the bright sleek toycar in the woven basket, slide the woven basket lightly.",
+    "Use one arm to grab the toycar with shiny wheels, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the toycar with black tires, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the palm-sized blue toycar and drop it in the brown basket with woven ridges.",
+    "Place the toycar with shiny plastic finish into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Grab the toycar with shiny wheels, set it into the oval-shaped basket with woven body.",
+    "Put the toycar with smooth texture in the basket with handle, then move the basket with handle away slightly.",
+    "Set the toycar with black tires in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick up the bright sleek toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the blue toycar and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Put the toycar with transparent windshield in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the bright sleek toycar and set it inside the basket with handle.",
+    "Grab the toycar for kids play, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use one arm to place the toycar with smooth texture in the basket for carrying things.",
+    "Lift the toycar with black tires, place it into the woven basket, move the woven basket.",
+    "Use the left arm to grab the toycar with black tires, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use the left arm to pick the bright sleek toycar, then use the right arm for the basket made of woven wood.",
+    "Grab the toycar with black tires, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the blue top toycar, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Move the small plastic toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the palm-sized blue toycar using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Take the toycar with black tires, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the blue and gray toycar, place it in the oval-shaped basket with woven body.",
+    "Pick the blue and gray toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, put it inside the basket with handle."
+  ],
+  "unseen": [
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode34.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..46efd4b4eb83d8eaaa5c9561ee8c111a9d9841f2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small blue car-shaped toycar, set it into the rectangular basket with smooth surface.",
+    "Put the bright blue toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the blue toycar with white windows, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Use the left arm to grab the plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Lift the toycar with smiling face design using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Grab the palm-sized plastic toycar, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the toycar with smiling face design in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the plastic basket, slide the plastic basket lightly.",
+    "Lift the plastic toycar, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick the lightweight toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Grab the lightweight toycar, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the lightweight toycar, then shift the plastic basket.",
+    "Place the toycar for kids into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Move the toycar with smiling face design to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the rectangular yellow basket.",
+    "Use one arm to place the small blue car-shaped toycar in the basket with black handle.",
+    "Pick the palm-sized plastic toycar, put it inside the rectangular basket with smooth surface.",
+    "Lift the small blue car-shaped toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Take the toycar with rounded edges, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Place the blue toycar with white windows in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to grab the glossy blue toycar, place it in the handheld basket, then move the handheld basket.",
+    "Pick the blue toycar with white windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick up the toycar for kids, put it in the handheld basket, shift the handheld basket a little.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with rounded edges and set it inside the basket with black handle.",
+    "Grab the toycar with rounded edges, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Set the lightweight toycar in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Put the lightweight toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the palm-sized plastic toycar and drop it in the yellow basket for carrying stuff.",
+    "Pick up the toycar with rounded edges and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the toycar with black and orange wheels, place it in the yellow basket for carrying stuff.",
+    "Grab the small blue car-shaped toycar, set it into the basket with black handle.",
+    "Put the toycar with rounded edges in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the toycar with black and orange wheels, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Use the left arm to grab the plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Lift the blue toycar with white windows using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Grab the small blue car-shaped toycar, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to place the palm-sized plastic toycar in the yellow basket, adjust the yellow basket.",
+    "Pick the bright blue toycar, drop the bright blue toycar in the handheld basket, slide the handheld basket lightly.",
+    "Lift the small blue car-shaped toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Pick the palm-sized plastic toycar and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Grab the plastic toycar, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick and move the lightweight toycar, then shift the basket with perforated sides.",
+    "Place the plastic toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Move the plastic toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the yellow basket for carrying stuff.",
+    "Use one arm to place the lightweight toycar in the bright yellow basket.",
+    "Pick the small toycar, put it inside the rectangular yellow basket.",
+    "Lift the toycar with black and orange wheels, place it into the handheld basket, move the handheld basket.",
+    "Take the toycar with black and orange wheels, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Use the left arm to pick the plastic toycar, then use the right arm for the handheld basket.",
+    "Grab the small toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Place the toycar for kids in the basket with black handle, then grab the basket with black handle.",
+    "Use one arm to grab the small blue car-shaped toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the small toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the lightweight toycar, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Take the palm-sized plastic toycar, put the palm-sized plastic toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the small toycar and set it inside the basket with arched black grip.",
+    "Grab the bright blue toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Set the palm-sized plastic toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Put the small toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the toycar with smiling face design and drop it in the basket with arched black grip.",
+    "Pick up the blue toycar with white windows and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the small blue car-shaped toycar, place it in the carrying basket with black plastic handle.",
+    "Grab the palm-sized plastic toycar, set it into the handheld basket.",
+    "Put the toycar with rounded edges in the handheld basket and pull the handheld basket away.",
+    "Pick up the glossy blue toycar, place it in the plastic basket, grab the plastic basket.",
+    "Use the left arm to grab the blue toycar with white windows, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Lift the plastic toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Grab the plastic toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Use one arm to place the toycar with smiling face design in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the toycar with smiling face design, drop the toycar with smiling face design in the handheld basket, slide the handheld basket lightly.",
+    "Lift the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Pick the toycar with rounded edges and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Grab the bright blue toycar, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the toycar for kids, then shift the handheld basket.",
+    "Place the small toycar into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Move the palm-sized plastic toycar to the bright yellow basket, then shift the bright yellow basket.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the basket with black handle.",
+    "Use one arm to place the blue toycar with white windows in the carrying basket with black plastic handle.",
+    "Pick the bright blue toycar, put it inside the yellow basket for carrying stuff.",
+    "Lift the small blue car-shaped toycar, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Take the toycar with rounded edges, set it in the plastic basket, shift the plastic basket lightly.",
+    "Use the left arm to pick the glossy blue toycar, then use the right arm for the medium yellow basket with slots.",
+    "Grab the toycar with smiling face design, place it in the basket with black handle, then move the basket with black handle away.",
+    "Place the blue toycar with white windows in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to grab the glossy blue toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the toycar with black and orange wheels, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the glossy blue toycar, put it in the plastic basket, shift the plastic basket a little.",
+    "Take the small blue car-shaped toycar, put the small blue car-shaped toycar into the handheld basket, shift the handheld basket.",
+    "Pick up the bright blue toycar and set it inside the basket with perforated sides.",
+    "Grab the toycar with black and orange wheels, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Set the toycar with rounded edges in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Put the toycar with rounded edges in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Grab the toycar for kids and drop it in the handheld basket.",
+    "Pick up the palm-sized plastic toycar and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the small toycar, place it in the handheld basket.",
+    "Grab the blue toycar with white windows, set it into the rectangular basket with smooth surface."
+  ],
+  "unseen": [
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode35.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd32207936e1198900d0ac0f43581b96dc216095
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the green car-shaped toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the small plastic green toycar, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the shiny green toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the toycar with black wheels, drop the toycar with black wheels in the woven basket, slide the woven basket lightly.",
+    "Pick the green toycar made from plastic and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Place the green toycar into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Grab the green car-shaped toycar, place it in the brown basket, then move the brown basket away.",
+    "Pick up the shiny green toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the green car-shaped toycar, set it into the basket with loop handle.",
+    "Pick and move the playful green toycar, then shift the brown basket.",
+    "Grab the playful green toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Put the small plastic green toycar in the basket for holding items, then move the basket for holding items away slightly.",
+    "Put the smooth green toycar in the light brown oval basket and pull the light brown oval basket away.",
+    "Use the left arm to pick the smooth green toycar, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the tiny green toycar and set it inside the wooden basket with curved handle.",
+    "Take the tiny green toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the playful green toycar, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Take the tiny green toycar, put the tiny green toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the playful green toycar in the basket with handle, adjust the basket with handle.",
+    "Place the toycar with black roof and wheels in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the small green toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Move the green toycar to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the green car-shaped toycar, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the playful green toycar, place it in the basket for holding items.",
+    "Set the smooth green toycar in the basket with handle, and shift the basket with handle away.",
+    "Lift the green toycar made from plastic using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the tiny green toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Use the left arm to grab the playful green toycar, 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 playful green toycar in the basket for holding items.",
+    "Pick the smooth green toycar, put it inside the smooth ribbed light brown basket.",
+    "Use one arm to grab the small green toycar, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the basket with handle.",
+    "Grab the small plastic green toycar and drop it in the smooth ribbed light brown basket.",
+    "Pick up the green toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the miniature bright green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Lift the tiny green toycar, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Pick the toycar with black roof and wheels, drop the toycar with black roof and wheels in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Pick the miniature bright green toycar and position it in the brown basket, move the brown basket slightly.",
+    "Place the playful green toycar into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the smooth green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick up the green car-shaped toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the miniature bright green toycar, set it into the brown basket with woven ridges.",
+    "Pick and move the small plastic green toycar, then shift the woven basket.",
+    "Grab the toycar with black wheels, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the green car-shaped toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the toycar with black wheels in the light brown oval basket and pull the light brown oval basket away.",
+    "Use the left arm to pick the green toycar, then use the right arm for the basket made of woven wood.",
+    "Pick up the tiny green toycar and set it inside the basket made of woven wood.",
+    "Take the smooth green toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the shiny green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the playful green toycar, put the playful green toycar into the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the tiny green toycar in the basket for carrying things, adjust the basket for carrying things.",
+    "Place the green toycar in the brown basket, then grab the brown basket.",
+    "Grab the green toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Move the playful green toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the green toycar, drop it in the woven basket, then move the woven basket.",
+    "Pick the miniature bright green toycar, place it in the wooden basket with curved handle.",
+    "Set the green toycar in the light brown oval basket, and shift the light brown oval basket away.",
+    "Lift the green toycar made from plastic using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the toycar with black wheels, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use the left arm to grab the toycar with black roof and wheels, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to place the smooth green toycar in the basket with handle.",
+    "Pick the green toycar, put it inside the brown basket with woven ridges.",
+    "Use one arm to grab the playful green toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the brown basket.",
+    "Grab the small plastic green toycar and drop it in the brown basket with woven ridges.",
+    "Pick up the playful green toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the tiny green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Lift the playful green toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the shiny green toycar, drop the shiny green toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the playful green toycar and position it in the brown basket, move the brown basket slightly.",
+    "Place the shiny green toycar into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Grab the smooth green toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick up the shiny green toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the toycar with black wheels, set it into the basket with loop handle.",
+    "Pick and move the green car-shaped toycar, then shift the basket with handle.",
+    "Grab the small green toycar, drop it in the brown basket, shift the brown basket.",
+    "Put the small plastic green toycar in the woven basket, then move the woven basket away slightly.",
+    "Put the toycar with black roof and wheels in the basket with loop handle and pull the basket with loop handle away.",
+    "Use the left arm to pick the smooth green toycar, then use the right arm for the brown basket.",
+    "Pick up the green car-shaped toycar and set it inside the basket for holding items.",
+    "Take the small green toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the small green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the tiny green toycar, put the tiny green toycar into the brown basket, shift the brown basket.",
+    "Use one arm to place the playful green toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Place the shiny green toycar in the woven basket, then grab the woven basket.",
+    "Grab the miniature bright green toycar, drop in the basket with handle, and move the basket with handle.",
+    "Move the shiny green toycar to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the toycar with black wheels, drop it in the woven basket, then move the woven basket.",
+    "Pick the miniature bright green toycar, place it in the wooden basket with curved handle.",
+    "Set the toycar with black wheels in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Lift the toycar with black wheels using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Pick up the smooth green toycar, place it in the brown basket, grab the brown basket.",
+    "Use the left arm to grab the playful green toycar, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to place the shiny green toycar in the brown basket with woven ridges.",
+    "Pick the playful green toycar, put it inside the wooden basket with curved handle.",
+    "Use one arm to grab the smooth green toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the wooden basket with curved handle.",
+    "Grab the small green toycar and drop it in the light brown oval basket.",
+    "Pick up the miniature bright green toycar, put it in the woven basket, shift the woven basket a little."
+  ],
+  "unseen": [
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the plastic toycar and drop in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the basket with rounded edges.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the oval basket with medium storage space.",
+    "Move the bright green toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the oval basket with medium storage space.",
+    "Grab the plastic toycar and place into the basket with rounded edges.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded edges in the oval basket with medium storage space and move it.",
+    "Grab the bright green toycar and put it in the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Move the bright green toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Move the plastic toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges and drop in the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode36.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d5d1bc6c6d6d378221e5ad7d8f630e1cc6bffdb
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hand-sized rolling toycar, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the plastic toycar with smooth finish, set it into the basket made of woven wood.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the basket with loop handle, shift the basket with loop handle.",
+    "Pick the kids' toycar in bright blue and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Put the toycar with rounded edges in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the blue toycar with yellow roof accents, drop in the basket with handle, and move the basket with handle.",
+    "Pick the hand-sized rolling toycar, place it in the basket with loop handle.",
+    "Pick and move the hand-sized rolling toycar, then shift the light brown oval basket.",
+    "Take the plastic toycar with smooth finish, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the compact glossy blue toycar, put it inside the basket for holding items.",
+    "Put the hand-sized rolling toycar in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the toycar featuring black and white wheels and set it inside the woven basket.",
+    "Grab the hand-sized rolling toycar and drop it in the basket with loop handle.",
+    "Pick the toycar with black wheels, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the toycar with dark gray windows in the brown basket, adjust the brown basket.",
+    "Lift the kids' toycar in bright blue using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to place the plastic toycar with smooth finish in the woven basket.",
+    "Pick up the small plastic toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the bright blue toycar with roof buttons, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the hand-sized rolling toycar with one arm, drop the hand-sized rolling toycar in the basket for holding items.",
+    "Use the right arm to pick the toycar featuring black and white wheels, then use the left arm for the basket made of woven wood.",
+    "Place the blue toycar with yellow roof accents into the woven basket and push the woven basket slightly away.",
+    "Use the right arm to grab the bright blue toycar with roof buttons, place it in the woven basket, and move the woven basket using the left arm.",
+    "Lift the blue toycar with yellow roof accents, place it into the basket for carrying things, move the basket for carrying things.",
+    "Set the small plastic toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick up the small plastic toycar, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the plastic toycar with smooth finish, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Move the compact glossy blue toycar to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the hand-sized rolling toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Place the hand-sized rolling toycar in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Lift the toycar made of plastic material, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the toycar featuring black and white wheels, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the small plastic toycar, set it into the basket made of woven wood.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the toycar with dark gray windows and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Put the toycar with rounded edges in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the toycar made of plastic material, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the toycar featuring black and white wheels, place it in the basket for holding items.",
+    "Pick and move the toycar with black wheels, then shift the basket with loop handle.",
+    "Take the plastic toycar with smooth finish, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with loop handle.",
+    "Put the toycar made of plastic material in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the kids' toycar in bright blue and set it inside the wooden basket with curved handle.",
+    "Grab the toycar featuring black and white wheels and drop it in the brown basket with woven ridges.",
+    "Pick the toycar with rounded edges, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the toycar featuring black and white wheels in the light brown oval basket, adjust the light brown oval basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use one arm to place the small plastic toycar in the woven basket.",
+    "Pick up the small plastic toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the toycar with black wheels, place it in the basket with handle, then move the basket with handle away.",
+    "Grab the toycar made of plastic material with one arm, drop the toycar made of plastic material in the smooth ribbed light brown basket.",
+    "Use the right arm to pick the kids' toycar in bright blue, then use the left arm for the basket made of woven wood.",
+    "Place the toycar with black wheels into the basket for holding items and push the basket for holding items slightly away.",
+    "Use the right arm to grab the small plastic toycar, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Lift the blue toycar with yellow roof accents, place it into the basket for holding items, move the basket for holding items.",
+    "Set the toycar with dark gray windows in the brown basket, and shift the brown basket away.",
+    "Pick up the toycar with rounded edges, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the toycar featuring black and white wheels, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Move the toycar featuring black and white wheels to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Grab the toycar with dark gray windows, drop it in the basket for holding items, then move the basket for holding items.",
+    "Place the compact glossy blue toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the toycar featuring black and white wheels, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick up the blue toycar with yellow roof accents, put it in the brown basket, shift the brown basket a little.",
+    "Use one arm to grab the kids' toycar in bright blue, place it in the basket with handle, then move the basket with handle.",
+    "Grab the toycar with dark gray windows, set it into the basket made of woven wood.",
+    "Take the bright blue toycar with roof buttons, put the bright blue toycar with roof buttons into the light brown oval basket, shift the light brown oval basket.",
+    "Pick the toycar with black wheels and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Put the bright blue toycar with roof buttons in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the small plastic toycar, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with loop handle.",
+    "Pick and move the plastic toycar with smooth finish, then shift the brown basket.",
+    "Take the compact glossy blue toycar, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the toycar with black wheels, put it inside the basket with loop handle.",
+    "Put the toycar featuring black and white wheels in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the toycar with black wheels and set it inside the basket for carrying things.",
+    "Grab the blue toycar with yellow roof accents and drop it in the oval-shaped basket with woven body.",
+    "Pick the bright blue toycar with roof buttons, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Use one arm to place the kids' toycar in bright blue in the oval-shaped basket with woven body.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the plastic toycar with smooth finish, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the woven basket.",
+    "Use the right arm to pick the toycar with black wheels, then use the left arm for the wooden basket with curved handle.",
+    "Place the bright blue toycar with roof buttons into the basket with handle and push the basket with handle slightly away.",
+    "Use the right arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the left arm.",
+    "Lift the toycar with black wheels, place it into the basket for holding items, move the basket for holding items.",
+    "Set the plastic toycar with smooth finish in the basket with handle, and shift the basket with handle away.",
+    "Pick up the toycar with black wheels, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the blue toycar with yellow roof accents, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the brown basket, slide the brown basket lightly.",
+    "Move the toycar with dark gray windows to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Grab the blue toycar with yellow roof accents, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Place the hand-sized rolling toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the toycar made of plastic material, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick up the toycar with black wheels, put it in the light brown oval basket, shift the light brown oval basket a little."
+  ],
+  "unseen": [
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Move the playable toycar with rolling wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the basket with rounded edges and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the playable toycar with rolling wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the basket with rounded edges.",
+    "Move the playable toycar with rolling wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the oval basket with medium storage space.",
+    "Pick up the playable toycar with rolling wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels and drop in the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode37.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..1731ed84c82dfeb4e489062d46ef3c2123b46fec
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular blue playingcards case into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Put the rectangular blue playingcards case in the basket for holding items, then move the basket for holding items away slightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the brown basket, shift the brown basket.",
+    "Pick the blue playingcards box, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the playingcards box with white symbols, place it in the basket for carrying things.",
+    "Grab the small playingcards container, drop it in the brown basket, shift the brown basket.",
+    "Grab the blue carton for playingcards, drop in the woven basket, and move the woven basket.",
+    "Lift the blue carton for playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the basket for holding items, then move the basket for holding items.",
+    "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 carton for playingcards to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Set the smooth playingcards holder in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the blue playingcards box, put it inside the smooth ribbed light brown basket.",
+    "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 up the blue playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick and move the blue carton for playingcards, then shift the basket with handle.",
+    "Grab the blue carton for playingcards and drop it in the oval-shaped basket with woven body.",
+    "Use one arm to place the small playingcards container in the basket with handle, adjust the basket with handle.",
+    "Grab the box of playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick up the blue pack holding playingcards and set it inside the basket made of woven wood.",
+    "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.",
+    "Lift the small playingcards container using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Take the box of playingcards, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue carton for playingcards, set it into the woven basket.",
+    "Pick up the playingcards pack with blue top and drop it in the brown basket, then move the brown basket.",
+    "Pick up the box of playingcards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the blue carton for playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the smooth ribbed light brown basket.",
+    "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 blue carton for playingcards in the basket with handle.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket for holding items.",
+    "Place the blue playingcards box into the basket for holding items and push the basket for holding items slightly away.",
+    "Put the playingcards box with white symbols in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for holding items, shift the basket for holding items.",
+    "Pick the small playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Grab the blue carton for playingcards, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the palm-sized playingcards carton, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to grab the blue playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the blue and white playingcards packaging to the light brown oval basket, then shift the light brown oval basket.",
+    "Set the rectangular blue playingcards case in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the playingcards pack with blue top, put it inside the basket for holding items.",
+    "Lift the small playingcards container, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the small playingcards container, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick and move the playingcards pack with blue top, then shift the brown basket with woven ridges.",
+    "Grab the blue playingcards box and drop it in the brown 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.",
+    "Grab the rectangular blue playingcards case, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the small playingcards container and set it inside the basket with loop handle.",
+    "Use the left arm to grab the blue playingcards box, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Take the smooth playingcards holder, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Grab the playingcards pack with blue top, set it into the 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.",
+    "Pick up the blue and white playingcards packaging, put it in the brown basket, shift the brown basket a little.",
+    "Pick the smooth playingcards holder and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Place the smooth playingcards holder in the basket for carrying things, then grab the basket for carrying things.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the brown basket.",
+    "Put the blue playingcards box in the woven basket and pull the woven basket away.",
+    "Use one arm to place the blue carton for playingcards in the brown basket.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the brown basket.",
+    "Place the blue pack holding playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Put the blue and white playingcards packaging in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the playingcards box with white symbols, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the playingcards pack with blue top, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the smooth playingcards holder, place it into the brown basket, move the brown basket.",
+    "Grab the blue carton for playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to grab the box of playingcards, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Move the playingcards pack with blue top to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Set the playingcards pack with blue top in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick the blue pack holding playingcards, put it inside the basket with loop handle.",
+    "Lift the blue pack holding playingcards, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick up the rectangular blue playingcards case, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick and move the smooth playingcards holder, then shift the woven basket.",
+    "Grab the palm-sized playingcards carton and drop it in the basket made of woven wood.",
+    "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.",
+    "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.",
+    "Pick up the small playingcards container and set it inside the smooth ribbed light brown basket.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the palm-sized playingcards carton, set it into the smooth ribbed light brown basket.",
+    "Pick up the blue playingcards box and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the small playingcards container, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Place the small playingcards container in the basket with handle, then grab the basket with handle.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the brown basket.",
+    "Put the card box with golden designs in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Use one arm to place the rectangular blue playingcards case in the basket made of woven wood.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the brown basket.",
+    "Place the small playingcards container into the basket made of woven wood and push the basket made of woven wood slightly away."
+  ],
+  "unseen": [
+    "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.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "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 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 basket with rounded edges, move 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.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the 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 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 basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop 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 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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the 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 pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the 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 rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the 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.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, 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 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.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards 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 oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "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.",
+    "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 pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Place the 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.",
+    "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 oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the 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, 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 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode38.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..30cf55267478f7caa74b57e7d8d251f199bd2b7b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the rectangular basket with smooth surface.",
+    "Grab the black playing cards box, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use one arm to grab the smooth black cards container, place it in the yellow basket, then move the yellow basket.",
+    "Pick the box with cards inside, drop the box with cards inside in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Use one arm to place the rectangular box for card storage in the yellow basket for carrying stuff.",
+    "Use the left arm to grab the black playing cards box, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Grab the cardboard playing cards box, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Grab the cardboard playing cards box, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick the box holding playing cards, place it in the handheld basket.",
+    "Put the compact box for playing cards in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Lift the small black box with cards using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Set the black box with rectangular shape in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick the compact box for playing cards, put it inside the plastic basket.",
+    "Use one arm to place the rectangular box for card storage in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Place the small black box with cards into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the box holding playing cards with one arm, drop the box holding playing cards in the plastic basket.",
+    "Grab the small black box with cards and drop it in the medium yellow basket with slots.",
+    "Grab the palm-sized box for playing cards, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the palm-sized box for playing cards, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Put the black playing cards box in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Move the rectangular box for card storage to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the playing cards box with gold text and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Lift the playing cards box with gold text, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Take the black box with rectangular shape, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick and move the rectangle-shaped cards box, then shift the rectangular basket with smooth surface.",
+    "Place the palm-sized box for playing cards in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the cardboard playing cards box and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the smooth black cards container and set it inside the medium yellow basket with slots.",
+    "Take the small black box with cards, put the small black box with cards into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the cardboard playing cards box, set it into the basket with black handle.",
+    "Lift the cardboard playing cards box, place it into the yellow basket for carrying stuff, move the yellow basket for carrying stuff.",
+    "Pick up the rectangle-shaped cards box, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the palm-sized box for playing cards, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Use the left arm to pick the box holding playing cards, then use the right arm for the handheld basket.",
+    "Grab the black box with rectangular shape, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use one arm to grab the palm-sized box for playing cards, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick the rectangle-shaped cards box, drop the rectangle-shaped cards box in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Use one arm to place the box holding playing cards in the carrying basket with black plastic handle.",
+    "Use the left arm to grab the compact box for playing cards, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Grab the playing cards box with gold text, drop in the plastic basket, and move the plastic basket.",
+    "Grab the rectangular box for card storage, drop it in the yellow basket, shift the yellow basket.",
+    "Pick the black box with rectangular shape, place it in the basket with arched black grip.",
+    "Put the box holding playing cards in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Lift the black playing cards box using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Set the smooth black cards container in the plastic basket, and shift the plastic basket away.",
+    "Pick the black playing cards box, put it inside the basket with black handle.",
+    "Use one arm to place the black box with rectangular shape in the bright yellow basket, adjust the bright yellow basket.",
+    "Place the smooth black cards container into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the yellow basket.",
+    "Grab the small black box with cards and drop it in the yellow basket for carrying stuff.",
+    "Grab the box with cards inside, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the palm-sized box for playing cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the box with cards inside in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Move the playing cards box with gold text to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the rectangle-shaped cards box and position it in the plastic basket, move the plastic basket slightly.",
+    "Lift the rectangle-shaped cards box, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Take the playing cards box with gold text, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick and move the box holding playing cards, then shift the yellow basket.",
+    "Place the black playing cards box in the yellow basket, then grab the yellow basket.",
+    "Pick up the cardboard playing cards box and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick up the black playing cards box and set it inside the rectangular yellow basket.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the basket with black handle, shift the basket with black handle.",
+    "Grab the compact box for playing cards, set it into the rectangular yellow basket.",
+    "Lift the black playing cards box, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Pick up the small black box with cards, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick up the rectangle-shaped cards box, put it in the handheld basket, shift the handheld basket a little.",
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the handheld basket.",
+    "Grab the palm-sized box for playing cards, place it in the basket with black handle, then move the basket with black handle away.",
+    "Use one arm to grab the black playing cards box, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the black box with rectangular shape, drop the black box with rectangular shape in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Use one arm to place the smooth black cards container in the basket with perforated sides.",
+    "Use the left arm to grab the compact box for playing cards, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the right arm.",
+    "Grab the smooth black cards container, drop in the handheld basket, and move the handheld basket.",
+    "Grab the cardboard playing cards box, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick the black box with rectangular shape, place it in the bright yellow basket.",
+    "Put the box with cards inside in the plastic basket, then move the plastic basket away slightly.",
+    "Lift the smooth black cards container using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Set the box holding playing cards in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Pick the smooth black cards container, put it inside the plastic basket.",
+    "Use one arm to place the palm-sized box for playing cards in the handheld basket, adjust the handheld basket.",
+    "Place the palm-sized box for playing cards into the basket with black handle and push the basket with black handle slightly away.",
+    "Grab the black box with rectangular shape with one arm, drop the black box with rectangular shape in the basket with perforated sides.",
+    "Grab the playing cards box with gold text and drop it in the medium yellow basket with slots.",
+    "Grab the small black box with cards, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the palm-sized box for playing cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the palm-sized box for playing cards in the yellow basket and pull the yellow basket away.",
+    "Move the box with cards inside to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the black playing cards box and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Lift the small black box with cards, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Take the small black box with cards, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Pick and move the compact box for playing cards, then shift the bright yellow basket.",
+    "Place the rectangular box for card storage in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the small black box with cards and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the smooth black cards container and set it inside the basket with arched black grip.",
+    "Take the black playing cards box, put the black playing cards box into the bright yellow basket, shift the bright yellow basket.",
+    "Grab the smooth black cards container, set it into the handheld basket.",
+    "Lift the box holding playing cards, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Pick up the small black box with cards, place it in the handheld basket, grab the handheld basket.",
+    "Pick up the box holding playing cards, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the bright yellow basket."
+  ],
+  "unseen": [
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode39.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f5aac695e2dd3fe07f6c17dcb0b47b038049d76
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the box holding playing cards in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Put the box holding playing cards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Pick the black box with rectangular shape and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick up the box with cards inside and set it inside the smooth ribbed light brown basket.",
+    "Grab the small black box with cards and drop it in the light brown oval basket.",
+    "Lift the rectangular box for card storage, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Put the rectangular box for card storage in the light brown oval basket and pull the light brown oval basket away.",
+    "Lift the smooth black cards container using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the smooth black cards container, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick up the black box with rectangular shape and drop it in the woven basket, then move the woven basket.",
+    "Pick up the black box with rectangular shape, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Use one arm to grab the box holding playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the smooth black cards container with one arm, drop the smooth black cards container in the basket for carrying things.",
+    "Place the rectangle-shaped cards box into the brown basket and push the brown basket slightly away.",
+    "Place the black playing cards box in the light brown oval basket, then grab the light brown oval basket.",
+    "Take the playing cards box with gold text, put the playing cards box with gold text into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the palm-sized box for playing cards in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the playing cards box with gold text, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the compact box for playing cards, put it inside the woven basket.",
+    "Pick the small black box with cards, place it in the woven basket.",
+    "Pick and move the box holding playing cards, then shift the basket made of woven wood.",
+    "Grab the palm-sized box for playing cards, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Grab the smooth black cards container, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Take the small black box with cards, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the small black box with cards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Grab the cardboard playing cards box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to grab the smooth black cards container, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the compact box for playing cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use the left arm to pick the small black box with cards, then use the right arm for the oval-shaped basket with woven body.",
+    "Move the small black box with cards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the small black box with cards, set it into the light brown oval basket.",
+    "Use one arm to place the small black box with cards in the smooth ribbed light brown basket.",
+    "Set the rectangle-shaped cards box in the brown basket, and shift the brown basket away.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Put the rectangular box for card storage in the woven basket, then move the woven basket away slightly.",
+    "Pick the rectangular box for card storage and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick up the small black box with cards and set it inside the light brown oval basket.",
+    "Grab the black box with rectangular shape and drop it in the light brown oval basket.",
+    "Lift the black box with rectangular shape, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Put the rectangle-shaped cards box in the woven basket and pull the woven basket away.",
+    "Lift the black box with rectangular shape 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.",
+    "Lift the smooth black cards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the playing cards box with gold text and drop it in the woven basket, then move the woven basket.",
+    "Pick up the rectangular box for card storage, place it in the woven basket, grab the woven basket.",
+    "Use one arm to grab the rectangular box for card storage, place it in the brown basket, then move the brown basket.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the brown basket with woven ridges.",
+    "Place the cardboard playing cards box into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Place the palm-sized box for playing cards in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Take the black playing cards box, put the black playing cards box into the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the box holding playing cards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the small black box with cards, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the compact box for playing cards, put it inside the basket made of woven wood.",
+    "Pick the compact box for playing cards, place it in the light brown oval basket.",
+    "Pick and move the box holding playing cards, then shift the wooden basket with curved handle.",
+    "Grab the rectangle-shaped cards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the black box with rectangular shape, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Take the box holding playing cards, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick up the black playing cards box, put it in the woven basket, shift the woven basket a little.",
+    "Grab the box with cards inside, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use the left arm to grab the smooth black cards container, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the cardboard playing cards box, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use the left arm to pick the rectangular box for card storage, then use the right arm for the basket for holding items.",
+    "Move the black box with rectangular shape to the basket for carrying things, then shift the basket for carrying things.",
+    "Grab the cardboard playing cards box, set it into the brown basket.",
+    "Use one arm to place the box with cards inside in the wooden basket with curved handle.",
+    "Set the black playing cards box in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the playing cards box with gold text, drop the playing cards box with gold text in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Put the smooth black cards container in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Pick the small black box with cards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the box holding playing cards and set it inside the wooden basket with curved handle.",
+    "Grab the rectangular box for card storage and drop it in the basket with handle.",
+    "Lift the smooth black cards container, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Put the cardboard playing cards box in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Lift the playing cards box with gold text using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Lift the black box with rectangular shape, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the playing cards box with gold text and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the playing cards box with gold text, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Use one arm to grab the compact box for playing cards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the smooth black cards container with one arm, drop the smooth black cards container in the woven basket.",
+    "Place the compact box for playing cards into the basket with handle and push the basket with handle slightly away.",
+    "Place the rectangular box for card storage in the light brown oval basket, then grab the light brown oval basket.",
+    "Take the smooth black cards container, put the smooth black cards container into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the black playing cards box in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the playing cards box with gold text, place it in the woven basket, shift the woven basket.",
+    "Pick the rectangular box for card storage, put it inside the brown basket.",
+    "Pick the box with cards inside, place it in the brown basket with woven ridges.",
+    "Pick and move the black playing cards box, then shift the light brown oval basket.",
+    "Grab the rectangular box for card storage, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the palm-sized box for playing cards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Take the box with cards inside, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the compact box for playing cards, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Grab the compact box for playing cards, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to grab the palm-sized box for playing cards, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Grab the small black box with cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the smooth ribbed light brown basket.",
+    "Move the box with cards inside to the light brown oval basket, then shift the light brown oval basket.",
+    "Grab the palm-sized box for playing cards, set it into the oval-shaped basket with woven body.",
+    "Use one arm to place the cardboard playing cards box in the basket with handle.",
+    "Set the palm-sized box for playing cards in the basket made of woven wood, and shift the basket made of woven wood away."
+  ],
+  "unseen": [
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and put it into the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the gold text on playing cards box in the oval basket with medium storage space and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Grab the gold text on playing cards box and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode4.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..989987f5791487e604d9491798b9d392f68e99e6
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bright sleek toycar to the light brown oval basket, then shift the light brown oval basket.",
+    "Use one arm to place the toycar with smooth texture in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick and move the toycar with shiny plastic finish, then shift the basket with handle.",
+    "Pick up the palm-sized blue toycar and set it inside the basket for carrying things.",
+    "Take the bright sleek toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Grab the toycar with black tires, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the toycar with shiny wheels in the woven basket.",
+    "Use the right arm to pick the blue and gray toycar, then use the left arm for the wooden basket with curved handle.",
+    "Pick the small plastic toycar, put it inside the brown basket.",
+    "Grab the toycar with transparent windshield, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the blue and gray toycar, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the toycar with shiny wheels, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Place the toycar with black tires into the basket with handle and push the basket with handle slightly away.",
+    "Lift the toycar with smooth texture, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket for carrying things.",
+    "Grab the toycar with smooth texture and drop it in the brown basket.",
+    "Set the toycar with shiny wheels in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the palm-sized blue toycar, set it into the oval-shaped basket with woven body.",
+    "Put the blue top toycar in the brown basket and pull the brown basket away.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick the toycar with black tires, place it in the woven basket.",
+    "Lift the toycar for kids play, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the small plastic toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the blue toycar, drop it in the brown basket, shift the brown basket.",
+    "Use the right arm to grab the blue top toycar, place it in the brown basket, and move the brown basket using the left arm.",
+    "Put the toycar for kids play in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Lift the blue top toycar using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick up the blue toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the toycar with transparent windshield, put the toycar with transparent windshield into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the blue top toycar in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick up the palm-sized blue toycar, put it in the brown basket, shift the brown basket a little.",
+    "Pick the toycar for kids play, place it in the basket with handle, shift the basket with handle.",
+    "Move the toycar with black tires to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Use one arm to place the toycar with black tires in the basket for holding items, adjust the basket for holding items.",
+    "Pick and move the blue top toycar, then shift the basket for carrying things.",
+    "Pick up the toycar with shiny wheels and set it inside the oval-shaped basket with woven body.",
+    "Take the toycar for kids play, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the toycar with transparent windshield, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the toycar with black tires in the oval-shaped basket with woven body.",
+    "Use the right arm to pick the blue top toycar, then use the left arm for the basket with handle.",
+    "Pick the toycar with black tires, put it inside the basket for holding items.",
+    "Grab the toycar with smooth texture, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the blue and gray toycar, place it in the basket for holding items, grab the basket for holding items.",
+    "Grab the small plastic toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Place the toycar with shiny plastic finish into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Lift the small plastic toycar, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the basket for holding items.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Set the blue top toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue top toycar, set it into the basket for holding items.",
+    "Put the palm-sized blue toycar in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick the blue toycar, drop the blue toycar in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Pick the blue toycar, place it in the basket for holding items.",
+    "Lift the blue top toycar, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Use one arm to grab the small plastic toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with shiny wheels and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Grab the small plastic toycar, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Use the right arm to grab the toycar with shiny plastic finish, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Put the toycar with transparent windshield in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Lift the toycar with shiny wheels using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Pick up the palm-sized blue toycar and drop it in the brown basket, then move the brown basket.",
+    "Take the toycar with smooth texture, put the toycar with smooth texture into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the toycar for kids play in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the blue and gray toycar, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the toycar with shiny plastic finish, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Move the toycar with shiny plastic finish to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use one arm to place the toycar with smooth texture in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick and move the toycar with shiny plastic finish, then shift the brown basket with woven ridges.",
+    "Pick up the blue toycar and set it inside the wooden basket with curved handle.",
+    "Take the blue top toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the blue and gray toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the blue toycar in the basket with handle.",
+    "Use the right arm to pick the small plastic toycar, then use the left arm for the basket for carrying things.",
+    "Pick the toycar with shiny plastic finish, put it inside the wooden basket with curved handle.",
+    "Grab the toycar with smooth texture, place it in the brown basket, then move the brown basket away.",
+    "Pick up the toycar with transparent windshield, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the blue toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Place the toycar with transparent windshield into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Lift the bright sleek toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the basket with loop handle.",
+    "Grab the toycar for kids play and drop it in the basket with loop handle.",
+    "Set the bright sleek toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue top toycar, set it into the basket made of woven wood.",
+    "Put the blue top toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick the blue top toycar, place it in the basket with handle.",
+    "Lift the small plastic toycar, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use one arm to grab the toycar with shiny wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the blue and gray toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the bright sleek toycar, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Use the right arm to grab the toycar for kids play, place it in the woven basket, and move the woven basket using the left arm.",
+    "Put the toycar with shiny wheels in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick up the bright sleek toycar and drop it in the brown basket, then move the brown basket.",
+    "Take the toycar with shiny wheels, put the toycar with shiny wheels into the basket with loop handle, shift the basket with loop handle.",
+    "Place the toycar with shiny wheels in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the bright sleek toycar, put it in the brown basket, shift the brown basket a little.",
+    "Pick the palm-sized blue toycar, place it in the brown basket, shift the brown basket.",
+    "Move the toycar with smooth texture to the brown basket with woven ridges, then shift the brown basket with woven ridges."
+  ],
+  "unseen": [
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode40.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e5bd186e1cea26a924e23eabe28093004221596
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the palm-sized blue toycar in the medium yellow basket with slots.",
+    "Move the toycar with shiny plastic finish to the plastic basket, then shift the plastic basket.",
+    "Grab the palm-sized blue toycar and drop it in the yellow basket.",
+    "Lift the blue toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the toycar with shiny wheels and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the palm-sized blue toycar, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the blue toycar, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with smooth texture, put it inside the plastic basket.",
+    "Grab the toycar with smooth texture, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with shiny wheels and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the toycar with shiny wheels, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick and move the blue toycar, then shift the bright yellow basket.",
+    "Lift the toycar with shiny plastic finish, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, place it in the plastic basket.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the medium yellow basket with slots.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the palm-sized blue toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Set the bright sleek toycar in the basket with black handle, and shift the basket with black handle away.",
+    "Use the left arm to grab the bright sleek toycar, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Put the toycar with black tires in the plastic basket and pull the plastic basket away.",
+    "Lift the blue and gray toycar using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Put the blue top toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Take the blue toycar, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Take the toycar with shiny plastic finish, put the toycar with shiny plastic finish into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket with perforated sides.",
+    "Grab the palm-sized blue toycar, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the bright sleek toycar and set it inside the yellow basket for carrying stuff.",
+    "Place the toycar with shiny plastic finish into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Use one arm to place the toycar for kids play in the plastic basket, adjust the plastic basket.",
+    "Place the blue and gray toycar in the basket with black handle, then grab the basket with black handle.",
+    "Pick up the palm-sized blue toycar, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Grab the palm-sized blue toycar, set it into the bright yellow basket.",
+    "Use one arm to place the toycar with black tires in the basket with perforated sides.",
+    "Move the toycar with black tires to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Grab the blue toycar and drop it in the yellow basket.",
+    "Lift the blue top toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the bright sleek toycar and position it in the basket with black handle, move the basket with black handle slightly.",
+    "Grab the toycar with black tires, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the toycar with transparent windshield, drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the toycar with black tires, put it inside the basket with black handle.",
+    "Grab the toycar for kids play, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the toycar with transparent windshield and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with smooth texture, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick and move the toycar with shiny wheels, then shift the rectangular basket with smooth surface.",
+    "Lift the bright sleek toycar, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the toycar with transparent windshield, place it in the basket with perforated sides.",
+    "Use the left arm to pick the palm-sized blue toycar, then use the right arm for the medium yellow basket with slots.",
+    "Use one arm to grab the blue top toycar, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the blue top toycar, place it in the plastic basket, grab the plastic basket.",
+    "Set the palm-sized blue toycar in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Use the left arm to grab the bright sleek toycar, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Put the small plastic toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Lift the blue top toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Put the toycar with transparent windshield in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Take the toycar with smooth texture, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the toycar with shiny plastic finish, drop the toycar with shiny plastic finish in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket with perforated sides.",
+    "Grab the blue top toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick up the blue toycar and set it inside the rectangular yellow basket.",
+    "Place the toycar with black tires into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Use one arm to place the bright sleek toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Place the palm-sized blue toycar in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the small plastic toycar, put it in the basket with black handle, shift the basket with black handle a little.",
+    "Grab the small plastic toycar, set it into the handheld basket.",
+    "Use one arm to place the bright sleek toycar in the rectangular yellow basket.",
+    "Move the toycar with black tires to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar with shiny wheels and drop it in the rectangular basket with smooth surface.",
+    "Lift the bright sleek toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the small plastic toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Grab the blue top toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Grab the toycar with shiny plastic finish, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with shiny wheels, put it inside the basket with black handle.",
+    "Grab the toycar with transparent windshield, drop it in the handheld basket, shift the handheld basket.",
+    "Pick up the toycar with transparent windshield and drop it in the plastic basket, then move the plastic basket.",
+    "Pick the bright sleek toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick and move the toycar for kids play, then shift the basket with arched black grip.",
+    "Lift the toycar with black tires, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick the palm-sized blue toycar, place it in the medium yellow basket with slots.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket with arched black grip.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the bright sleek toycar, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Set the blue and gray toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Use the left arm to grab the palm-sized blue toycar, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Put the toycar with shiny plastic finish in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the toycar for kids play using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Put the toycar for kids play in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Take the palm-sized blue toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the blue and gray toycar, drop the blue and gray toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Grab the toycar with transparent windshield with one arm, drop the toycar with transparent windshield in the basket with arched black grip.",
+    "Grab the toycar with smooth texture, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick up the bright sleek toycar and set it inside the basket with arched black grip.",
+    "Place the toycar with transparent windshield into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Use one arm to place the toycar with shiny plastic finish in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Place the bright sleek toycar in the yellow basket, then grab the yellow basket.",
+    "Pick up the toycar with black tires, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the toycar for kids play, set it into the handheld basket.",
+    "Use one arm to place the toycar with transparent windshield in the basket with perforated sides."
+  ],
+  "unseen": [
+    "Grab the gray base toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the compact toycar with rotating wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the gray base toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with rounded body and place into the medium-sized basket with perforated texture.",
+    "Place the compact toycar with rotating wheels in the yellow basket with open slots and move it.",
+    "Move the toycar with rounded body to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gray base toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow basket with open slots.",
+    "Grab the gray base toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with rounded body to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar and place into the yellow basket with open slots.",
+    "Place the compact toycar with rotating wheels in the yellow basket with open slots and move it.",
+    "Move the compact toycar with rotating wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow basket with open slots.",
+    "Grab the gray base toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with rounded body to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow basket with open slots.",
+    "Pick up the gray base toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the gray base toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and place into the yellow basket with open slots.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gray base toycar and drop in the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it in the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it into the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and place into the medium-sized basket with perforated texture.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the compact toycar with rotating wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and place into the yellow basket with open slots.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the compact toycar with rotating wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode41.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18f124ba43eff67f3faeeb0c223cd0bce85e8dc
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the toycar with smooth texture, place it in the brown basket, grab the brown basket.",
+    "Pick and move the toycar with smooth texture, then shift the brown basket with woven ridges.",
+    "Move the blue toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use the left arm to pick the toycar with shiny plastic finish, then use the right arm for the oval-shaped basket with woven body.",
+    "Put the toycar with shiny wheels in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the toycar with transparent windshield, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the toycar with shiny wheels, place it in the brown basket, then move the brown basket away.",
+    "Pick up the small plastic toycar and set it inside the brown basket.",
+    "Take the blue top toycar, put the blue top toycar into the light brown oval basket, shift the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Set the toycar for kids play in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Put the blue toycar in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the woven basket.",
+    "Pick the palm-sized blue toycar, place it in the light brown oval basket.",
+    "Take the blue and gray toycar, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Grab the toycar with shiny wheels, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the blue toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the bright sleek toycar into the woven basket and push the woven basket slightly away.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the woven basket, then move the woven basket.",
+    "Use one arm to place the blue toycar in the basket for holding items.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Lift the toycar with smooth texture, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick the toycar with black tires 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 toycar with smooth texture, place it in the woven basket, and move the woven basket using the right arm.",
+    "Grab the toycar with smooth texture, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the toycar for kids play, set it into the basket made of woven wood.",
+    "Place the toycar with black tires in the basket with handle, then grab the basket with handle.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Lift the small plastic toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the bright sleek toycar, put it inside the brown basket.",
+    "Pick up the toycar with smooth texture and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish, place it in the woven basket, grab the woven basket.",
+    "Pick and move the palm-sized blue toycar, then shift the wooden basket with curved handle.",
+    "Move the toycar for kids play to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the basket made of woven wood.",
+    "Put the toycar for kids play in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the toycar with shiny plastic finish, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the toycar with shiny plastic finish, place it in the woven basket, then move the woven basket away.",
+    "Pick up the toycar with shiny plastic finish and set it inside the basket with loop handle.",
+    "Take the toycar with shiny wheels, put the toycar with shiny wheels into the woven basket, shift the woven basket.",
+    "Grab the toycar with shiny plastic finish, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Set the toycar with black tires in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Put the small plastic toycar in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the toycar for kids play and drop it in the brown basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the basket with loop handle.",
+    "Pick the blue and gray toycar, place it in the smooth ribbed light brown basket.",
+    "Take the toycar with smooth texture, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the blue and gray toycar, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the blue top toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to grab the blue toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to place the toycar with smooth texture in the basket for holding items.",
+    "Lift the small plastic toycar 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.",
+    "Lift the toycar with shiny plastic finish, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick the small plastic toycar and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Use the left arm to grab the blue top toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Grab the toycar with shiny wheels, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the small plastic toycar, drop the small plastic toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the small plastic toycar, set it into the oval-shaped basket with woven body.",
+    "Place the toycar with shiny plastic finish in the brown basket, then grab the brown basket.",
+    "Use one arm to place the palm-sized blue toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Lift the toycar with black tires, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick the blue top toycar, put it inside the brown basket.",
+    "Pick up the toycar with transparent windshield and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the blue and gray toycar, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Move the palm-sized blue toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use the left arm to pick the small plastic toycar, then use the right arm for the light brown oval basket.",
+    "Put the blue and gray toycar in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick up the bright sleek toycar, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Grab the blue top toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Pick up the small plastic toycar and set it inside the basket made of woven wood.",
+    "Take the toycar with shiny plastic finish, put the toycar with shiny plastic finish into the woven basket, shift the woven basket.",
+    "Grab the bright sleek toycar, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Set the small plastic toycar in the brown basket, and shift the brown basket away.",
+    "Put the palm-sized blue toycar in the woven basket, then move the woven basket away slightly.",
+    "Grab the bright sleek toycar and drop it in the basket with loop handle.",
+    "Grab the bright sleek toycar with one arm, drop the bright sleek toycar in the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, place it in the light brown oval basket.",
+    "Take the blue and gray toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Grab the blue top toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Pick the palm-sized blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the palm-sized blue toycar into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Use one arm to grab the blue top toycar, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Use one arm to place the toycar with smooth texture in the basket made of woven wood.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Lift the toycar with black tires, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick the toycar with shiny plastic finish and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to grab the blue top toycar, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the toycar with smooth texture, drop in the woven basket, and move the woven basket.",
+    "Pick the blue toycar, drop the blue toycar in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the blue toycar, set it into the basket for carrying things.",
+    "Place the toycar with shiny wheels in the light brown oval basket, then grab the light brown oval basket.",
+    "Use one arm to place the toycar with transparent windshield in the basket for holding items, adjust the basket for holding items.",
+    "Lift the blue toycar, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick the toycar with shiny plastic finish, put it inside the basket with loop handle.",
+    "Pick up the blue top toycar and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the toycar with shiny wheels, place it in the woven basket, grab the woven basket."
+  ],
+  "unseen": [
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode42.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c20edd3358edc510f8c67933edcdfff2c09b31
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the toycar with black and orange wheels in the bright yellow basket.",
+    "Grab the toycar for kids, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the lightweight toycar, place it in the plastic basket, then move the plastic basket away.",
+    "Put the glossy blue toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Take the toycar with black and orange wheels, put the toycar with black and orange wheels into the handheld basket, shift the handheld basket.",
+    "Grab the lightweight toycar and drop it in the bright yellow basket.",
+    "Grab the lightweight toycar with one arm, drop the lightweight toycar in the rectangular basket with smooth surface.",
+    "Place the small blue car-shaped toycar in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick the toycar with smiling face design and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Use the right arm to pick the small toycar, then use the left arm for the handheld basket.",
+    "Move the palm-sized plastic toycar to the plastic basket, then shift the plastic basket.",
+    "Grab the small toycar, drop in the plastic basket, and move the plastic basket.",
+    "Pick the toycar for kids, place it in the rectangular basket with smooth surface.",
+    "Set the lightweight toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Use the right arm to grab the glossy blue toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Take the toycar with black and orange wheels, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the toycar with black and orange wheels, put it inside the rectangular basket with smooth surface.",
+    "Use one arm to place the glossy blue toycar in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Pick and move the toycar with black and orange wheels, then shift the medium yellow basket with slots.",
+    "Grab the toycar for kids, set it into the basket with black handle.",
+    "Lift the small blue car-shaped toycar using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Pick up the lightweight toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick up the palm-sized plastic toycar and set it inside the basket with black handle.",
+    "Pick the small blue car-shaped toycar, drop the small blue car-shaped toycar in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Lift the lightweight toycar, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Pick up the lightweight toycar and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the palm-sized plastic toycar, place it in the yellow basket, shift the yellow basket.",
+    "Grab the palm-sized plastic toycar, drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to grab the bright blue toycar, place it in the yellow basket, then move the yellow basket.",
+    "Lift the toycar with smiling face design, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Put the bright blue toycar in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Place the glossy blue toycar into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the plastic toycar, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Use one arm to place the small toycar in the rectangular yellow basket.",
+    "Grab the toycar for kids, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the blue toycar with white windows, place it in the plastic basket, then move the plastic basket away.",
+    "Put the small blue car-shaped toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the glossy blue toycar and drop it in the medium yellow basket with slots.",
+    "Grab the blue toycar with white windows with one arm, drop the blue toycar with white windows in the carrying basket with black plastic handle.",
+    "Place the small blue car-shaped toycar in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick the glossy blue toycar and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Use the right arm to pick the bright blue toycar, then use the left arm for the rectangular yellow basket.",
+    "Move the lightweight toycar to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the toycar with black and orange wheels, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff.",
+    "Pick the toycar for kids, place it in the basket with black handle.",
+    "Set the blue toycar with white windows in the handheld basket, and shift the handheld basket away.",
+    "Use the right arm to grab the glossy blue toycar, place it in the basket with perforated sides, and move the basket with perforated sides using the left arm.",
+    "Take the lightweight toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick the blue toycar with white windows, put it inside the basket with arched black grip.",
+    "Use one arm to place the glossy blue toycar in the plastic basket, adjust the plastic basket.",
+    "Pick and move the toycar with rounded edges, then shift the yellow basket for carrying stuff.",
+    "Grab the toycar for kids, set it into the rectangular yellow basket.",
+    "Lift the plastic toycar using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Pick up the glossy blue toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick up the glossy blue toycar and set it inside the plastic basket.",
+    "Pick the bright blue toycar, drop the bright blue toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the bright blue toycar, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick up the small blue car-shaped toycar and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the toycar with smiling face design, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the lightweight toycar, drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use one arm to grab the blue toycar with white windows, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the toycar with rounded edges, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Put the plastic toycar in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Place the plastic toycar into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Pick up the toycar with black and orange wheels, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Use one arm to place the small toycar in the basket with perforated sides.",
+    "Grab the plastic toycar, drop it in the basket with black handle, shift the basket with black handle.",
+    "Grab the toycar with rounded edges, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Put the small toycar in the plastic basket and pull the plastic basket away.",
+    "Take the small toycar, put the small toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the glossy blue toycar and drop it in the yellow basket for carrying stuff.",
+    "Grab the palm-sized plastic toycar with one arm, drop the palm-sized plastic toycar in the bright yellow basket.",
+    "Place the blue toycar with white windows in the yellow basket, then grab the yellow basket.",
+    "Pick the toycar with smiling face design and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Use the right arm to pick the small toycar, then use the left arm for the yellow basket.",
+    "Move the small blue car-shaped toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the toycar with rounded edges, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick the plastic toycar, place it in the basket with perforated sides.",
+    "Set the toycar with black and orange wheels in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use the right arm to grab the lightweight toycar, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the left arm.",
+    "Take the bright blue toycar, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Pick the toycar with smiling face design, put it inside the yellow basket.",
+    "Use one arm to place the toycar with black and orange wheels in the basket with black handle, adjust the basket with black handle.",
+    "Pick and move the bright blue toycar, then shift the handheld basket.",
+    "Grab the toycar with smiling face design, set it into the basket with black handle.",
+    "Lift the blue toycar with white windows using the right arm, drop it in the plastic basket, then push the plastic basket via the left arm.",
+    "Pick up the glossy blue toycar, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Pick up the toycar with black and orange wheels and set it inside the bright yellow basket.",
+    "Pick the toycar for kids, drop the toycar for kids in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Lift the toycar with smiling face design, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick up the toycar for kids and drop it in the yellow basket, then move the yellow basket.",
+    "Pick the small blue car-shaped toycar, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the lightweight toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the lightweight toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Put the blue toycar with white windows in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Place the palm-sized plastic toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick up the toycar with smiling face design, put it in the plastic basket, shift the plastic basket a little.",
+    "Use one arm to place the toycar with rounded edges in the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode43.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7747fc61b04c1dc864d42ec2c04c02fadc4309b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black playing cards box, put the black playing cards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the black playing cards box into the woven basket and push the woven basket slightly away.",
+    "Grab the cardboard playing cards box, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the small black box with cards with one arm, drop the small black box with cards in the basket for carrying things.",
+    "Pick the black playing cards box, put it inside the basket with handle.",
+    "Put the black playing cards box in the basket with handle and pull the basket with handle away.",
+    "Grab the palm-sized box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Move the black box with rectangular shape to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use one arm to place the compact box for playing cards in the basket for carrying things.",
+    "Set the palm-sized box for playing cards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the box holding playing cards, set it into the basket for carrying things.",
+    "Pick and move the compact box for playing cards, then shift the basket with loop handle.",
+    "Place the compact box for playing cards in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Lift the box with cards inside using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Pick up the rectangle-shaped cards box, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use one arm to place the cardboard playing cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the basket with loop handle.",
+    "Lift the playing cards box with gold text, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the playing cards box with gold text, place it in the basket with loop handle.",
+    "Pick the rectangle-shaped cards box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Use one arm to grab the black box with rectangular shape, place it in the woven basket, then move the woven basket.",
+    "Pick the rectangular box for card storage, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the playing cards box with gold text, place it into the woven basket, move the woven basket.",
+    "Pick the black playing cards box, drop the black playing cards box in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Use the right arm to grab the box with cards inside, place it in the brown basket, and move the brown basket using the left arm.",
+    "Grab the rectangle-shaped cards box and drop it in the woven basket.",
+    "Grab the black box with rectangular shape, drop it in the brown basket, shift the brown basket.",
+    "Take the cardboard playing cards box, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the small black box with cards and set it inside the basket with handle.",
+    "Grab the box holding playing cards, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Put the black box with rectangular shape in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Pick up the compact box for playing cards and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the playing cards box with gold text, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Take the smooth black cards container, put the smooth black cards container into the basket for holding items, shift the basket for holding items.",
+    "Place the smooth black cards container into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Grab the playing cards box with gold text, drop in the basket for holding items, and move the basket for holding items.",
+    "Grab the box holding playing cards with one arm, drop the box holding playing cards in the brown basket with woven ridges.",
+    "Pick the smooth black cards container, put it inside the basket for carrying things.",
+    "Put the box with cards inside in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the small black box with cards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Move the black box with rectangular shape to the woven basket, then shift the woven basket.",
+    "Use one arm to place the rectangular box for card storage in the wooden basket with curved handle.",
+    "Set the black playing cards box in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Grab the playing cards box with gold text, set it into the brown basket.",
+    "Pick and move the black playing cards box, then shift the basket for carrying things.",
+    "Place the rectangular box for card storage in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the small black box with cards using the right arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the left arm.",
+    "Pick up the box holding playing cards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Use one arm to place the cardboard playing cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the smooth black cards container, then use the left arm for the oval-shaped basket with woven body.",
+    "Lift the playing cards box with gold text, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick the smooth black cards container, place it in the basket for carrying things.",
+    "Pick the small black box with cards and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Use one arm to grab the compact box for playing cards, place it in the basket with handle, then move the basket with handle.",
+    "Pick the box with cards inside, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the small black box with cards, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick the black box with rectangular shape, drop the black box with rectangular shape in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Use the right arm to grab the palm-sized box for playing cards, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Grab the rectangular box for card storage and drop it in the basket made of woven wood.",
+    "Grab the black box with rectangular shape, drop it in the basket with handle, shift the basket with handle.",
+    "Take the playing cards box with gold text, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the small black box with cards and set it inside the oval-shaped basket with woven body.",
+    "Grab the compact box for playing cards, drop it in the brown basket, then move the brown basket.",
+    "Put the box holding playing cards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Pick up the palm-sized box for playing cards and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick up the black box with rectangular shape, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Take the rectangular box for card storage, put the rectangular box for card storage into the basket for carrying things, shift the basket for carrying things.",
+    "Place the box with cards inside into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the black box with rectangular shape, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Grab the compact box for playing cards with one arm, drop the compact box for playing cards in the basket for holding items.",
+    "Pick the smooth black cards container, put it inside the oval-shaped basket with woven body.",
+    "Put the playing cards box with gold text in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the compact box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Move the playing cards box with gold text to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Use one arm to place the playing cards box with gold text in the smooth ribbed light brown basket.",
+    "Set the playing cards box with gold text in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the box with cards inside, set it into the basket for carrying things.",
+    "Pick and move the small black box with cards, then shift the brown basket with woven ridges.",
+    "Place the black playing cards box in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the box with cards inside using the right arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the left arm.",
+    "Pick up the black box with rectangular shape, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to place the rectangle-shaped cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the basket with handle.",
+    "Lift the box with cards inside, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick the box holding playing cards, place it in the basket made of woven wood.",
+    "Pick the cardboard playing cards box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Use one arm to grab the black box with rectangular shape, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the box with cards inside, place it in the basket with handle, shift the basket with handle.",
+    "Lift the palm-sized box for playing cards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Grab the black box with rectangular shape and drop it in the wooden basket with curved handle.",
+    "Grab the rectangle-shaped cards box, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the rectangle-shaped cards box, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the black playing cards box and set it inside the smooth ribbed light brown basket.",
+    "Grab the small black box with cards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the compact box for playing cards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Pick up the smooth black cards container and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the box holding playing cards, place it in the basket with handle, grab the basket with handle.",
+    "Take the small black box with cards, put the small black box with cards into the light brown oval basket, shift the light brown oval basket."
+  ],
+  "unseen": [
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and place into the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the oval basket with medium storage space and move it.",
+    "Grab the black box with smooth surface and place into the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode44.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcb158f230bb6cb4f9771ba7ac0cad3277160bed
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the smooth green toycar, drop the smooth green toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the shiny green toycar, place it in the basket for carrying things.",
+    "Take the green toycar made from plastic, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the small green toycar and drop it in the basket for holding items.",
+    "Place the small green toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the miniature bright green toycar, put it inside the basket with handle.",
+    "Grab the small plastic green toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Put the small plastic green toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the green toycar in the basket with handle.",
+    "Put the small plastic green toycar in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the toycar with black wheels, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the right arm to grab the green toycar made from plastic, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Grab the green toycar made from plastic, set it into the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Lift the tiny green toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use the right arm to pick the toycar with black wheels, then use the left arm for the wooden basket with curved handle.",
+    "Lift the shiny green toycar, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick and move the tiny green toycar, then shift the brown basket.",
+    "Grab the tiny green toycar, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the small plastic green toycar, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Lift the tiny green toycar, place it into the woven basket, move the woven basket.",
+    "Pick up the shiny green toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the tiny green toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Take the green toycar, put the green toycar into the light brown oval basket, shift the light brown oval basket.",
+    "Set the green car-shaped toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the miniature bright green toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use one arm to grab the tiny green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the green toycar made from plastic in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the smooth green toycar to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick the green toycar made from plastic, place it in the brown basket, shift the brown basket.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the basket made of woven wood.",
+    "Place the toycar with black wheels in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the basket with handle, slide the basket with handle lightly.",
+    "Pick the shiny green toycar, place it in the light brown oval basket.",
+    "Take the toycar with black wheels, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the small green toycar and drop it in the oval-shaped basket with woven body.",
+    "Place the toycar with black roof and wheels into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the green toycar, put it inside the brown basket with woven ridges.",
+    "Grab the toycar with black wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Put the shiny green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the playful green toycar in the brown basket.",
+    "Put the small green toycar in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the tiny green toycar, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the playful green toycar, place it in the basket for holding items, and move the basket for holding items using the left arm.",
+    "Grab the small green toycar, set it into the wooden basket with curved handle.",
+    "Pick the small plastic green toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Lift the shiny green toycar using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use the right arm to pick the small plastic green toycar, then use the left arm for the basket for carrying things.",
+    "Lift the miniature bright green toycar, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick and move the small plastic green toycar, then shift the light brown oval basket.",
+    "Grab the shiny green toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Pick up the smooth green toycar, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Lift the tiny green toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the green car-shaped toycar, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the toycar with black wheels, drop in the brown basket, and move the brown basket.",
+    "Take the small plastic green toycar, put the small plastic green toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Set the playful green toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the small green toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar made from plastic and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to grab the green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the toycar with black roof and wheels in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the small green toycar to the basket with handle, then shift the basket with handle.",
+    "Pick the small green toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the miniature bright green toycar with one arm, drop the miniature bright green toycar in the basket for carrying things.",
+    "Place the small plastic green toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic, drop the green toycar made from plastic in the woven basket, slide the woven basket lightly.",
+    "Pick the small plastic green toycar, place it in the basket with loop handle.",
+    "Take the green toycar made from plastic, set it in the basket with handle, shift the basket with handle lightly.",
+    "Grab the smooth green toycar and drop it in the brown basket.",
+    "Place the toycar with black roof and wheels into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Pick the tiny green toycar, put it inside the woven basket.",
+    "Grab the toycar with black roof and wheels, place it in the basket for holding items, then move the basket for holding items away.",
+    "Put the green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the green car-shaped toycar in the basket for holding items.",
+    "Put the green toycar made from plastic in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the toycar with black roof and wheels, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use the right arm to grab the shiny green toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Grab the smooth green toycar, set it into the brown basket.",
+    "Pick the toycar with black roof and wheels and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Lift the green toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use the right arm to pick the green car-shaped toycar, then use the left arm for the smooth ribbed light brown basket.",
+    "Lift the shiny green toycar, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick and move the green toycar made from plastic, then shift the oval-shaped basket with woven body.",
+    "Grab the green toycar made from plastic, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the tiny green toycar, place it in the brown basket, grab the brown basket.",
+    "Lift the tiny green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick up the miniature bright green toycar, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the toycar with black roof and wheels, drop in the basket for holding items, and move the basket for holding items.",
+    "Take the green toycar made from plastic, put the green toycar made from plastic into the light brown oval basket, shift the light brown oval basket.",
+    "Set the toycar with black roof and wheels in the brown basket, and shift the brown basket away.",
+    "Pick up the green car-shaped toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to grab the green toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to place the small plastic green toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Move the miniature bright green toycar to the basket with handle, then shift the basket with handle.",
+    "Pick the playful green toycar, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the basket made of woven wood.",
+    "Place the green toycar in the brown basket, then grab the brown basket.",
+    "Pick the tiny green toycar, drop the tiny green toycar in the brown basket, slide the brown basket lightly."
+  ],
+  "unseen": [
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the plastic toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the basket with rounded edges.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the basket with rounded edges.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode45.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3190f473c7bf3d985b55a5b84b3b6e1e88c497
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the blue playingcards box in the basket with black handle, adjust the basket with black handle.",
+    "Put the blue playingcards box in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Place the blue pack holding playingcards into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the smooth playingcards holder, set it into the medium yellow basket with slots.",
+    "Pick and move the blue playingcards box, then shift the medium yellow basket with slots.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the playingcards box with white symbols, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Grab the blue carton for playingcards and drop it in the plastic basket.",
+    "Pick up the rectangular blue playingcards case, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick up the blue carton for playingcards and set it inside the plastic basket.",
+    "Take the playingcards pack with blue top, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the playingcards box with white symbols, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with arched black grip.",
+    "Set the blue carton for playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the card box with golden designs, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the blue and white playingcards packaging, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Pick the card box with golden designs, place it in the basket with perforated sides.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the palm-sized playingcards carton in the yellow basket.",
+    "Pick the blue playingcards box and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Lift the box of playingcards using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the card box with golden designs, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the plastic basket, slide the plastic basket lightly.",
+    "Pick up the playingcards box with white symbols, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the small playingcards container, put it inside the basket with black handle.",
+    "Take the box of playingcards, put the box of playingcards into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Move the rectangular blue playingcards case to the handheld basket, then shift the handheld basket.",
+    "Put the box of playingcards in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the yellow basket for carrying stuff.",
+    "Place the blue carton for playingcards in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Grab the blue playingcards box, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Put the blue pack holding playingcards in the yellow basket, then move the yellow basket away slightly.",
+    "Place the blue and white playingcards packaging into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Grab the palm-sized playingcards carton, set it into the rectangular basket with smooth surface.",
+    "Pick and move the smooth playingcards holder, then shift the basket with arched black grip.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Grab the smooth playingcards holder, drop it in the plastic basket, then move the plastic basket.",
+    "Grab the playingcards pack with blue top, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Grab the blue carton for playingcards and drop it in the yellow basket.",
+    "Pick up the blue playingcards box, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Pick up the blue carton for playingcards and set it inside the bright yellow basket.",
+    "Take the box of playingcards, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the playingcards box with white symbols, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the bright yellow basket.",
+    "Set the blue carton for playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the blue pack holding playingcards, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the playingcards pack with blue top, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Pick the blue playingcards box, place it in the basket with arched black grip.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the small playingcards container in the bright yellow basket.",
+    "Pick the blue playingcards box and position it in the plastic basket, move the plastic basket slightly.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Lift the blue and white playingcards packaging, place it into the plastic basket, move the plastic basket.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick up the blue pack holding playingcards, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick the blue carton for playingcards, put it inside the basket with perforated sides.",
+    "Take the box of playingcards, put the box of playingcards into the plastic basket, shift the plastic basket.",
+    "Move the box of playingcards to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Put the smooth playingcards holder in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick up the blue carton for playingcards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the carrying basket with black plastic handle.",
+    "Place the playingcards box with white symbols in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box of playingcards, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Use one arm to place the playingcards box with white symbols in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Put the playingcards box with white symbols in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Place the rectangular blue playingcards case into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Grab the small playingcards container, set it into the handheld basket.",
+    "Pick and move the playingcards pack with blue top, then shift the carrying basket with black plastic handle.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the blue carton for playingcards, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Grab the smooth playingcards holder and drop it in the plastic basket.",
+    "Pick up the palm-sized playingcards carton, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick up the smooth playingcards holder and set it inside the rectangular basket with smooth surface.",
+    "Take the card box with golden designs, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Grab the blue playingcards box, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the handheld basket.",
+    "Set the blue carton for playingcards in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick the card box with golden designs, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the playingcards box with white symbols, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick the box of playingcards, place it in the yellow basket for carrying stuff.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the small playingcards container in the handheld basket.",
+    "Pick the playingcards box with white symbols and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Lift the box of playingcards using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Lift the small playingcards container, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Pick up the blue pack holding playingcards, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Pick the blue carton for playingcards, put it inside the plastic basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket with arched black grip, shift the basket with arched black grip.",
+    "Move the playingcards pack with blue top to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Put the box of playingcards in the basket with black handle and pull the basket with black handle away.",
+    "Pick up the box of playingcards and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the yellow basket for carrying stuff.",
+    "Place the blue and white playingcards packaging in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Grab the rectangular blue playingcards case, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the palm-sized playingcards carton in the yellow basket, adjust the yellow basket."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow basket with open slots.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the small packet of playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Grab the small packet of playingcards and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small packet of playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the medium-sized basket with perforated texture and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode46.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce05e8b51e27436f6cfa37af99d2bc799e90147
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the toycar with black wheels, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Place the bright blue toycar with roof buttons into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the toycar with dark gray windows, place it in the woven basket, shift the woven basket.",
+    "Grab the hand-sized rolling toycar and drop it in the smooth ribbed light brown basket.",
+    "Pick the bright blue toycar with roof buttons, put it inside the brown basket with woven ridges.",
+    "Use one arm to grab the toycar made of plastic material, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the toycar made of plastic material in the wooden basket with curved handle.",
+    "Pick the plastic toycar with smooth finish, place it in the woven basket.",
+    "Lift the small plastic toycar, place it into the brown basket, move the brown basket.",
+    "Take the kids' toycar in bright blue, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the kids' toycar in bright blue, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the toycar made of plastic material, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the toycar made of plastic material, drop the toycar made of plastic material in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Set the blue toycar with yellow roof accents in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Use the left arm to pick the toycar featuring black and white wheels, then use the right arm for the smooth ribbed light brown basket.",
+    "Grab the toycar with black wheels, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the plastic toycar with smooth finish, set it into the smooth ribbed light brown basket.",
+    "Move the toycar made of plastic material to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick the hand-sized rolling toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Use one arm to place the blue toycar with yellow roof accents in the brown basket, adjust the brown basket.",
+    "Grab the hand-sized rolling toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the brown basket, and move the brown basket using the right arm.",
+    "Put the small plastic toycar in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the brown basket.",
+    "Grab the toycar made of plastic material, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Take the compact glossy blue toycar, put the compact glossy blue toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the toycar with rounded edges, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Put the toycar with black wheels in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick up the toycar made of plastic material and set it inside the basket for carrying things.",
+    "Place the compact glossy blue toycar in the basket with handle, then grab the basket with handle.",
+    "Lift the compact glossy blue toycar using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Pick and move the bright blue toycar with roof buttons, then shift the smooth ribbed light brown basket.",
+    "Pick up the toycar featuring black and white wheels, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Place the blue toycar with yellow roof accents into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Pick the toycar with black wheels, place it in the basket for holding items, shift the basket for holding items.",
+    "Grab the toycar with black wheels and drop it in the basket with loop handle.",
+    "Pick the toycar made of plastic material, put it inside the wooden basket with curved handle.",
+    "Use one arm to grab the small plastic toycar, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the compact glossy blue toycar in the light brown oval basket.",
+    "Pick the toycar with rounded edges, place it in the basket for holding items.",
+    "Lift the toycar with black wheels, place it into the light brown oval basket, move the light brown oval basket.",
+    "Take the kids' toycar in bright blue, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the toycar with black wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the hand-sized rolling toycar, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the hand-sized rolling toycar, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Set the bright blue toycar with roof buttons in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Use the left arm to pick the kids' toycar in bright blue, then use the right arm for the basket for holding items.",
+    "Grab the blue toycar with yellow roof accents, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the toycar with rounded edges, set it into the brown basket with woven ridges.",
+    "Move the toycar featuring black and white wheels to the light brown oval basket, then shift the light brown oval basket.",
+    "Pick the toycar with rounded edges and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Use one arm to place the toycar made of plastic material in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the hand-sized rolling toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use the left arm to grab the kids' toycar in bright blue, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Put the toycar with rounded edges in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the hand-sized rolling toycar with one arm, drop the hand-sized rolling toycar in the brown basket with woven ridges.",
+    "Grab the bright blue toycar with roof buttons, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Take the toycar made of plastic material, put the toycar made of plastic material into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick up the kids' toycar in bright blue, put it in the woven basket, shift the woven basket a little.",
+    "Put the toycar made of plastic material in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the toycar featuring black and white wheels and set it inside the oval-shaped basket with woven body.",
+    "Place the toycar with dark gray windows in the basket with handle, then grab the basket with handle.",
+    "Lift the small plastic toycar 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 toycar with dark gray windows, then shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with black wheels, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Place the toycar with black wheels into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Pick the plastic toycar with smooth finish, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the hand-sized rolling toycar and drop it in the basket made of woven wood.",
+    "Pick the bright blue toycar with roof buttons, put it inside the basket made of woven wood.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the small plastic toycar in the basket for carrying things.",
+    "Pick the toycar with black wheels, place it in the basket with loop handle.",
+    "Lift the compact glossy blue toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Take the plastic toycar with smooth finish, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue toycar with yellow roof accents, drop it in the brown basket, shift the brown basket.",
+    "Lift the bright blue toycar with roof buttons, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick the toycar with dark gray windows, drop the toycar with dark gray windows in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Set the toycar made of plastic material in the brown basket, and shift the brown basket away.",
+    "Use the left arm to pick the toycar with black wheels, then use the right arm for the basket for carrying things.",
+    "Grab the blue toycar with yellow roof accents, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue toycar with yellow roof accents, set it into the basket with handle.",
+    "Move the blue toycar with yellow roof accents to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the bright blue toycar with roof buttons and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use one arm to place the toycar with dark gray windows in the basket with handle, adjust the basket with handle.",
+    "Grab the toycar made of plastic material, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use the left arm to grab the compact glossy blue toycar, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Put the compact glossy blue toycar in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket for holding items.",
+    "Grab the toycar with black wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the toycar featuring black and white wheels, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Put the small plastic toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the toycar made of plastic material and set it inside the basket with handle.",
+    "Place the plastic toycar with smooth finish in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the toycar featuring black and white wheels 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 small plastic toycar, then shift the basket for holding items.",
+    "Pick up the toycar with black wheels, place it in the wooden basket with curved handle, grab the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the oval basket with medium storage space.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the basket with rounded edges.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the playable toycar with rolling wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar in the basket with rounded edges and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the playable toycar with rolling wheels in the medium basket with smooth texture and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode47.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a297c9d11d1594aed1363aed64a56a06ce16447
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular blue playingcards case in the basket with loop handle, then grab the basket with loop handle.",
+    "Move the smooth playingcards holder to the brown basket, then shift the brown basket.",
+    "Pick the palm-sized playingcards carton and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick the blue pack holding playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the playingcards box with white symbols in the basket with handle.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Set the rectangular blue playingcards case in the light brown oval basket, and shift the light brown oval basket away.",
+    "Use one arm to place the playingcards box with white symbols in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the playingcards pack with blue top and set it inside the basket made of woven wood.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket with handle.",
+    "Pick up the blue pack holding playingcards, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Grab the blue playingcards box, drop in the basket for holding items, and move the basket for holding items.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick up the smooth playingcards holder and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols and drop it in the wooden basket with curved handle.",
+    "Pick and move the box of playingcards, then shift the basket made of woven wood.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the box of playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the small playingcards container in the woven basket and pull the woven basket away.",
+    "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.",
+    "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 small playingcards container, put it inside the brown basket with woven ridges.",
+    "Place the blue playingcards box into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the palm-sized playingcards carton, set it into the oval-shaped basket with woven body.",
+    "Lift the small playingcards container, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the card box with golden designs in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Move the blue carton for playingcards to the basket for holding items, then shift the basket for holding items.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue and white playingcards packaging, place it in the brown basket, shift the brown basket.",
+    "Use one arm to place the smooth playingcards holder in the basket for holding items.",
+    "Grab the playingcards box with white symbols, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Set the smooth playingcards holder in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Use one arm to place the blue playingcards box in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the rectangular blue playingcards case 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 brown basket.",
+    "Pick up the small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Grab the blue and white playingcards packaging, drop in the woven basket, and move the woven basket.",
+    "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.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick up the card box with golden designs and drop it in the brown basket, then move the brown basket.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the light brown oval basket.",
+    "Pick the blue playingcards box, place it in the basket for carrying things.",
+    "Grab the blue carton for playingcards and drop it in the smooth ribbed light brown basket.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for holding items.",
+    "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.",
+    "Put the small playingcards container in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "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 basket with handle, shift the basket with handle.",
+    "Pick the box of playingcards, put it inside the wooden basket with curved handle.",
+    "Place the smooth playingcards holder into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the playingcards box with white symbols, set it into the brown basket with woven ridges.",
+    "Lift the box of playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Take the playingcards box with white symbols, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Grab the playingcards box with white symbols, drop it in the brown basket, shift the brown basket.",
+    "Place the small playingcards container in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the blue and white playingcards packaging to the basket with loop handle, then shift the basket with loop handle.",
+    "Pick the blue pack holding playingcards and position it in the brown basket, move the brown basket slightly.",
+    "Pick the blue playingcards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the smooth playingcards holder in the light brown oval basket.",
+    "Grab the small playingcards container, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Set the blue carton for playingcards in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Use one arm to place the blue and white playingcards packaging in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the blue and white playingcards packaging, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the blue playingcards box and set it inside the basket with loop handle.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards, place it in the brown basket, grab the brown basket.",
+    "Pick up the playingcards pack with blue top, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the palm-sized playingcards carton, drop in the basket with loop handle, and move the basket with loop handle.",
+    "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 the left arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the card box with golden designs and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the woven basket.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle.",
+    "Grab the blue playingcards box and drop it in the basket made of woven wood.",
+    "Pick and move the small playingcards container, then shift the basket made of woven wood.",
+    "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 rectangular blue playingcards case in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "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.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Place the rectangular blue playingcards case into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the smooth playingcards holder, set it into the woven basket.",
+    "Lift the blue pack holding playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the palm-sized playingcards carton, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it 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.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the 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, 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 rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the 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.",
+    "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 medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the 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.",
+    "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 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 and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the 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, 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 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 pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the 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.",
+    "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.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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 basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the 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, 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 rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack 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 pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the 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, 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the 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, 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the 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 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.",
+    "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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode48.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e880b698e33272175948b6ee74a4297e268bd6
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the miniature bright green toycar, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the miniature bright green toycar, drop the miniature bright green toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the green car-shaped toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Lift the green toycar, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick the smooth green toycar and position it in the yellow basket, move the yellow basket slightly.",
+    "Pick up the tiny green toycar, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to grab the small green toycar, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the green car-shaped toycar, put the green car-shaped toycar into the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick the miniature bright green toycar, place it in the yellow basket for carrying stuff.",
+    "Set the tiny green toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use the left arm to pick the small green toycar, then use the right arm for the medium yellow basket with slots.",
+    "Put the smooth green toycar in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Pick and move the tiny green toycar, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black wheels, put it inside the yellow basket for carrying stuff.",
+    "Pick up the green toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar with black roof and wheels, place it in the basket with black handle, then move the basket with black handle away.",
+    "Use the left arm to grab the playful green toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Take the smooth green toycar, set it in the handheld basket, shift the handheld basket lightly.",
+    "Grab the toycar with black roof and wheels, set it into the handheld basket.",
+    "Pick up the toycar with black roof and wheels and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use one arm to place the small plastic green toycar in the basket with arched black grip.",
+    "Move the shiny green toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Use one arm to place the miniature bright green toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Lift the small plastic green toycar, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Put the smooth green toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the handheld basket.",
+    "Grab the miniature bright green toycar and drop it in the basket with perforated sides.",
+    "Place the tiny green toycar in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Pick up the playful green toycar and set it inside the rectangular basket with smooth surface.",
+    "Grab the smooth green toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick the tiny green toycar, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the toycar with black wheels into the basket with black handle and push the basket with black handle slightly away.",
+    "Grab the toycar with black wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the toycar with black wheels, drop it in the basket with black handle, shift the basket with black handle.",
+    "Pick the green toycar, drop the green toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Lift the shiny green toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the small plastic green toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Pick the tiny green toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick up the smooth green toycar, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to grab the tiny green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the green toycar, put the green toycar into the handheld basket, shift the handheld basket.",
+    "Pick the small green toycar, place it in the bright yellow basket.",
+    "Set the green car-shaped toycar in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Use the left arm to pick the green toycar made from plastic, then use the right arm for the bright yellow basket.",
+    "Put the shiny green toycar in the basket with black handle, then move the basket with black handle away slightly.",
+    "Pick and move the green toycar made from plastic, then shift the basket with perforated sides.",
+    "Pick the smooth green toycar, put it inside the rectangular basket with smooth surface.",
+    "Pick up the toycar with black wheels, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the miniature bright green toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Use the left arm to grab the shiny green toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Take the green car-shaped toycar, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Grab the toycar with black roof and wheels, set it into the rectangular yellow basket.",
+    "Pick up the green toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to place the shiny green toycar in the plastic basket.",
+    "Move the tiny green toycar to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Use one arm to place the toycar with black wheels in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Lift the green toycar made from plastic, place it into the basket with black handle, move the basket with black handle.",
+    "Put the toycar with black roof and wheels in the handheld basket and pull the handheld basket away.",
+    "Grab the tiny green toycar with one arm, drop the tiny green toycar in the basket with black handle.",
+    "Grab the smooth green toycar and drop it in the rectangular basket with smooth surface.",
+    "Place the small green toycar in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Pick up the shiny green toycar and set it inside the rectangular yellow basket.",
+    "Grab the playful green toycar, drop in the plastic basket, and move the plastic basket.",
+    "Pick the shiny green toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Place the playful green toycar into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Grab the toycar with black wheels, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the small plastic green toycar, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the playful green toycar, drop the playful green toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the green toycar using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Lift the smooth green toycar, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick the shiny green toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Pick up the small green toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Use one arm to grab the playful green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the green car-shaped toycar, put the green car-shaped toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the miniature bright green toycar, place it in the yellow basket.",
+    "Set the small plastic green toycar in the handheld basket, and shift the handheld basket away.",
+    "Use the left arm to pick the small plastic green toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Put the green toycar made from plastic in the plastic basket, then move the plastic basket away slightly.",
+    "Pick and move the miniature bright green toycar, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black roof and wheels, put it inside the yellow basket.",
+    "Pick up the tiny green toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar with black roof and wheels, place it in the plastic basket, then move the plastic basket away.",
+    "Use the left arm to grab the miniature bright green toycar, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Take the shiny green toycar, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Grab the playful green toycar, set it into the rectangular yellow basket.",
+    "Pick up the shiny green toycar and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the smooth green toycar in the bright yellow basket.",
+    "Move the green toycar to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Use one arm to place the shiny green toycar in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Lift the shiny green toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Put the miniature bright green toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Grab the green toycar made from plastic with one arm, drop the green toycar made from plastic in the yellow basket.",
+    "Grab the small green toycar and drop it in the basket with arched black grip.",
+    "Place the green toycar made from plastic in the handheld basket, then grab the handheld basket.",
+    "Pick up the smooth green toycar and set it inside the rectangular yellow basket.",
+    "Grab the green toycar made from plastic, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Pick the tiny green toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Place the small plastic green toycar into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the small green toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Grab the shiny green toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the yellow basket with open slots.",
+    "Move the plastic toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the yellow basket with open slots.",
+    "Move the toycar with rounded edges to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the bright green toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the yellow basket with open slots.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the bright green toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the bright green toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the bright green toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the yellow basket with open slots.",
+    "Move the toycar with rounded edges to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic toycar and put it into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the toycar with rounded edges to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode49.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..09c22e9250c0392f359fb020710220ccb74390d4
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue top toycar, place it in the brown basket, then move the brown basket away.",
+    "Grab the palm-sized blue toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the toycar with smooth texture and set it inside the basket made of woven wood.",
+    "Take the toycar with black tires, put the toycar with black tires into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the small plastic toycar and position it in the brown basket, move the brown basket slightly.",
+    "Pick the toycar with black tires, put it inside the basket with loop handle.",
+    "Place the toycar with transparent windshield into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the woven basket.",
+    "Pick up the toycar with shiny plastic finish, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use one arm to grab the toycar with black tires, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the small plastic toycar using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the toycar with black tires, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Move the small plastic toycar to the basket with handle, then shift the basket with handle.",
+    "Set the bright sleek toycar in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Place the toycar with shiny wheels in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Use the left arm to pick the toycar with shiny plastic finish, then use the right arm for the basket for carrying things.",
+    "Put the toycar with shiny wheels in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the blue toycar and drop it in the basket made of woven wood.",
+    "Use the left arm to grab the blue toycar, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the small plastic toycar, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the toycar with shiny plastic finish in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the blue toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the toycar with smooth texture, set it into the oval-shaped basket with woven body.",
+    "Grab the toycar with black tires, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Lift the blue top toycar, place it into the basket with handle, move the basket with handle.",
+    "Pick the bright sleek toycar, place it in the oval-shaped basket with woven body.",
+    "Take the blue and gray toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Use one arm to place the small plastic toycar in the smooth ribbed light brown basket.",
+    "Pick up the toycar with shiny plastic finish, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick and move the toycar for kids play, then shift the woven basket.",
+    "Put the small plastic toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Grab the bright sleek toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Grab the blue and gray toycar, drop in the brown basket, and move the brown basket.",
+    "Pick up the toycar with shiny plastic finish and set it inside the oval-shaped basket with woven body.",
+    "Take the small plastic toycar, put the small plastic toycar into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the toycar with shiny plastic finish and position it in the woven basket, move the woven basket slightly.",
+    "Pick the bright sleek toycar, put it inside the brown basket with woven ridges.",
+    "Place the bright sleek toycar into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the toycar with shiny wheels, drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the toycar with black tires with one arm, drop the toycar with black tires in the brown basket with woven ridges.",
+    "Pick up the toycar with transparent windshield, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use one arm to grab the small plastic toycar, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the toycar with smooth texture, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Move the toycar with black tires to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Set the bright sleek toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Place the bright sleek toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket made of woven wood.",
+    "Put the blue and gray toycar in the brown basket, then move the brown basket away slightly.",
+    "Grab the blue top toycar and drop it in the basket with loop handle.",
+    "Use the left arm to grab the toycar with black tires, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Pick the blue top toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the blue toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the toycar with black tires and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the toycar with shiny wheels, set it into the basket made of woven wood.",
+    "Grab the blue top toycar, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Lift the toycar with shiny wheels, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick the toycar with shiny wheels, place it in the basket with loop handle.",
+    "Take the blue top toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Use one arm to place the toycar with shiny plastic finish in the woven basket.",
+    "Pick up the toycar with shiny wheels, place it in the brown basket, grab the brown basket.",
+    "Pick and move the blue toycar, then shift the wooden basket with curved handle.",
+    "Put the toycar with shiny plastic finish in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the toycar with black tires, place it in the brown basket, then move the brown basket away.",
+    "Grab the blue top toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish and set it inside the basket for holding items.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the brown basket, shift the brown basket.",
+    "Pick the toycar with shiny plastic finish and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the palm-sized blue toycar, put it inside the oval-shaped basket with woven body.",
+    "Place the toycar with transparent windshield into the woven basket and push the woven basket slightly away.",
+    "Grab the toycar with shiny wheels, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket with handle.",
+    "Pick up the small plastic toycar, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Use one arm to grab the bright sleek toycar, place it in the basket with handle, then move the basket with handle.",
+    "Lift the palm-sized blue toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Lift the toycar with black tires, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Move the toycar with transparent windshield to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Set the toycar with black tires in the basket with handle, and shift the basket with handle away.",
+    "Place the toycar with transparent windshield in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to pick the bright sleek toycar, then use the right arm for the wooden basket with curved handle.",
+    "Put the toycar with shiny wheels in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the blue toycar and drop it in the brown basket.",
+    "Use the left arm to grab the toycar with shiny wheels, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick the toycar for kids play, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the toycar with black tires in the basket with handle, adjust the basket with handle.",
+    "Pick up the blue toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the toycar with black tires, set it into the basket with handle.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, shift the brown basket.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket for holding items, slide the basket for holding items lightly.",
+    "Lift the toycar with shiny wheels, place it into the basket for holding items, move the basket for holding items.",
+    "Pick the toycar with smooth texture, place it in the basket for holding items.",
+    "Take the blue top toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body.",
+    "Pick up the toycar for kids play, place it in the woven basket, grab the woven basket.",
+    "Pick and move the toycar with smooth texture, then shift the basket made of woven wood.",
+    "Put the toycar with transparent windshield in the woven basket and pull the woven basket away.",
+    "Grab the blue and gray toycar, place it in the woven basket, then move the woven basket away."
+  ],
+  "unseen": [
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode5.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd43be22cd3cba2235a5eb615d2fbd1909f3025
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact red playingcards pack and position it in the woven basket, move the woven basket slightly.",
+    "Put the compact red playingcards pack in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the red and yellow playingcards case and drop it in the light brown oval basket.",
+    "Lift the hand-sized playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Put the rectangular playingcards case in the brown basket, then move the brown basket away slightly.",
+    "Lift the compact red playingcards pack, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the playingcards box with white accents using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the box for playingcards, set it into the light brown oval basket.",
+    "Use one arm to place the yellow and red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the yellow and red playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use the left arm to grab the playingcards storage box, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick the yellow and red playingcards box, place it in the smooth ribbed light brown basket.",
+    "Place the hand-sized playingcards container in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Place the compact red playingcards pack into the basket with handle and push the basket with handle slightly away.",
+    "Set the box for playingcards in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the compact red playingcards pack in the brown basket.",
+    "Grab the playingcards storage box, place it in the woven basket, then move the woven basket away.",
+    "Grab the red playingcards box, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick and move the red and yellow playingcards case, then shift the basket for holding items.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the compact red playingcards pack, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the box for playingcards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the basket with loop handle.",
+    "Move the yellow and red playingcards box to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the playingcards storage box, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the glossy rectangular playingcards box, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick up the glossy rectangular playingcards box and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the yellow and red playingcards box, put it inside the smooth ribbed light brown basket.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the brown basket with woven ridges.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the hand-sized playingcards container and set it inside the basket with handle.",
+    "Grab the yellow and red playingcards box, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick the playingcards box with white accents and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Put the glossy rectangular playingcards box in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the smooth playingcards pack and drop it in the light brown oval basket.",
+    "Lift the rectangular playingcards case, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Put the glossy rectangular playingcards box in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the smooth playingcards pack, place it into the basket with loop handle, move the basket with loop handle.",
+    "Lift the red 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.",
+    "Grab the glossy rectangular playingcards box, set it into the basket made of woven wood.",
+    "Use one arm to place the hand-sized playingcards container in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the hand-sized playingcards container, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Use the left arm to grab the small playingcards pack, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick the red and yellow playingcards case, place it in the brown basket.",
+    "Place the hand-sized playingcards container in the light brown oval basket, then grab the light brown oval basket.",
+    "Place the red and yellow playingcards case into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Set the red playingcards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Use one arm to place the red and yellow playingcards case in the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards pack, place it in the brown basket, then move the brown basket away.",
+    "Grab the playingcards storage box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick and move the box for playingcards, then shift the light brown oval basket.",
+    "Take the box for playingcards, put the box for playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the box for playingcards, place it in the brown basket, shift the brown basket.",
+    "Grab the smooth playingcards pack, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the compact red playingcards pack with one arm, drop the compact red playingcards pack in the basket with loop handle.",
+    "Move the rectangular playingcards case to the basket with handle, then shift the basket with handle.",
+    "Take the smooth playingcards pack, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the playingcards box with white accents, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Pick up the small playingcards pack and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the small playingcards pack, put it inside the oval-shaped basket with woven body.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the smooth ribbed light brown basket.",
+    "Use one arm to grab the compact red playingcards pack, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the hand-sized playingcards container and set it inside the light brown oval basket.",
+    "Grab the yellow and red playingcards box, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the red playingcards box and position it in the brown basket, move the brown basket slightly.",
+    "Put the rectangular playingcards case in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Grab the red playingcards box and drop it in the brown basket.",
+    "Lift the playingcards storage box, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Put the rectangular playingcards case in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Lift the red and yellow playingcards case, place it into the basket for holding items, move the basket for holding items.",
+    "Lift the red and yellow playingcards case using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the smooth playingcards pack, set it into the basket made of woven wood.",
+    "Use one arm to place the red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the box for playingcards, place it in the basket with handle, grab the basket with handle.",
+    "Use the left arm to grab the rectangular playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the hand-sized playingcards container, place it in the basket made of woven wood.",
+    "Place the glossy rectangular playingcards box in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Place the playingcards storage box into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the glossy rectangular playingcards box in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the smooth playingcards pack in the wooden basket with curved handle.",
+    "Grab the compact red playingcards pack, place it in the woven basket, then move the woven basket away.",
+    "Grab the red playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick and move the glossy rectangular playingcards box, then shift the light brown oval basket.",
+    "Take the glossy rectangular playingcards box, put the glossy rectangular playingcards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the playingcards box with white accents, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the compact red playingcards pack, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the basket for carrying things.",
+    "Move the compact red playingcards pack to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the yellow and red playingcards box, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the box for playingcards, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the brown basket, slide the brown basket lightly.",
+    "Pick up the compact red playingcards pack and drop it in the woven basket, then move the woven basket.",
+    "Pick the glossy rectangular playingcards box, put it inside the brown basket with woven ridges.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the basket for carrying things.",
+    "Use one arm to grab the playingcards storage box, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the playingcards storage box and set it inside the basket made of woven wood.",
+    "Grab the rectangular playingcards case, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the red playingcards box and position it in the brown basket, move the brown basket slightly."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode6.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..81220cbf34d6e3f8393b03cb0ff6d1dbf9f04060
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the brown basket.",
+    "Pick and move the rectangular box for card storage, then shift the basket for carrying things.",
+    "Grab the box with cards inside, drop it in the brown basket, shift the brown basket.",
+    "Put the small black box with cards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the black box with rectangular shape, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the small black box with cards in the oval-shaped basket with woven body.",
+    "Grab the compact box for playing cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Grab the palm-sized box for playing cards, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick up the box with cards inside, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Lift the rectangular box for card storage, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the small black box with cards, put it in the woven basket, shift the woven basket a little.",
+    "Take the black box with rectangular shape, put the black box with rectangular shape into the basket with handle, shift the basket with handle.",
+    "Use one arm to grab the box holding playing cards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the black box with rectangular shape using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Pick the cardboard playing cards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the cardboard playing cards box and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the light brown oval basket.",
+    "Move the small black box with cards to the basket for holding items, then shift the basket for holding items.",
+    "Place the palm-sized box for playing cards into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the compact box for playing cards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Place the black playing cards box in the basket for holding items, then grab the basket for holding items.",
+    "Pick up the black box with rectangular shape and set it inside the basket with handle.",
+    "Use one arm to place the black playing cards box in the basket for holding items, adjust the basket for holding items.",
+    "Pick the playing cards box with gold text, drop the playing cards box with gold text in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the rectangular box for card storage, set it into the basket made of woven wood.",
+    "Pick the small black box with cards, put it inside the brown basket with woven ridges.",
+    "Set the palm-sized box for playing cards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the rectangle-shaped cards box and drop it in the smooth ribbed light brown basket.",
+    "Lift the black playing cards box, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the black playing cards box, place it in the woven basket.",
+    "Put the rectangle-shaped cards box in the brown basket and pull the brown basket away.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Take the box holding playing cards, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the woven basket.",
+    "Pick and move the smooth black cards container, then shift the oval-shaped basket with woven body.",
+    "Grab the black playing cards box, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Put the box holding playing cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the black box with rectangular shape, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the black playing cards box in the wooden basket with curved handle.",
+    "Grab the black playing cards box, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the cardboard playing cards box, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the rectangle-shaped cards box, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Lift the box holding playing cards, place it into the woven basket, move the woven basket.",
+    "Pick up the smooth black cards container, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Take the black playing cards box, put the black playing cards box into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the box holding playing cards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Lift the palm-sized box for playing cards using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick the rectangular box for card storage, place it in the basket with handle, shift the basket with handle.",
+    "Pick up the black box with rectangular shape and drop it in the brown basket, then move the brown basket.",
+    "Grab the palm-sized box for playing cards with one arm, drop the palm-sized box for playing cards in the brown basket.",
+    "Move the box with cards inside to the basket for holding items, then shift the basket for holding items.",
+    "Place the palm-sized box for playing cards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick the black playing cards box and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Place the box holding playing cards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the cardboard playing cards box and set it inside the basket made of woven wood.",
+    "Use one arm to place the small black box with cards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the brown basket, slide the brown basket lightly.",
+    "Grab the compact box for playing cards, set it into the basket with handle.",
+    "Pick the box with cards inside, put it inside the smooth ribbed light brown basket.",
+    "Set the black playing cards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the smooth black cards container and drop it in the basket for carrying things.",
+    "Lift the box holding playing cards, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Pick the black box with rectangular shape, place it in the smooth ribbed light brown basket.",
+    "Put the playing cards box with gold text in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the right arm to grab the box with cards inside, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Take the compact box for playing cards, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Use the right arm to pick the small black box with cards, then use the left arm for the brown basket.",
+    "Pick and move the small black box with cards, then shift the basket for carrying things.",
+    "Grab the palm-sized box for playing cards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the compact box for playing cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the rectangular box for card storage, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the compact box for playing cards in the basket for holding items.",
+    "Grab the palm-sized box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the black box with rectangular shape, drop in the woven basket, and move the woven basket.",
+    "Pick up the rectangle-shaped cards box, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Lift the compact box for playing cards, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the palm-sized box for playing cards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the black box with rectangular shape, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the cardboard playing cards box using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick the rectangular box for card storage, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the compact box for playing cards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the small black box with cards with one arm, drop the small black box with cards in the wooden basket with curved handle.",
+    "Move the cardboard playing cards box to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Place the rectangle-shaped cards box into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the black playing cards box and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Place the rectangular box for card storage in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick up the playing cards box with gold text and set it inside the brown basket with woven ridges.",
+    "Use one arm to place the black playing cards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the box with cards inside, drop the box with cards inside in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Grab the compact box for playing cards, set it into the basket with handle.",
+    "Pick the rectangle-shaped cards box, put it inside the oval-shaped basket with woven body.",
+    "Set the rectangular box for card storage in the basket with handle, and shift the basket with handle away.",
+    "Grab the compact box for playing cards and drop it in the basket made of woven wood.",
+    "Lift the black playing cards box, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the playing cards box with gold text, place it in the basket made of woven wood.",
+    "Put the rectangle-shaped cards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the right arm to grab the black playing cards box, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Take the palm-sized box for playing cards, set it in the brown basket, shift the brown basket lightly.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the brown basket."
+  ],
+  "unseen": [
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode7.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..477ef79c1d3314cd774fd4f44e453d453e5be022
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small playingcards pack, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Lift the red and yellow playingcards case, place it into the plastic basket, move the plastic basket.",
+    "Use one arm to place the smooth playingcards pack in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Put the glossy rectangular playingcards box in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Place the playingcards box with white accents in the basket with black handle, then grab the basket with black handle.",
+    "Pick up the playingcards box with white accents, put it in the handheld basket, shift the handheld basket a little.",
+    "Pick the red and yellow playingcards case and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Put the rectangular playingcards case in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Pick the yellow and red playingcards box, put it inside the bright yellow basket.",
+    "Pick up the glossy rectangular playingcards box and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the red and yellow playingcards case and set it inside the basket with perforated sides.",
+    "Grab the playingcards storage box, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use the left arm to pick the box for playingcards, then use the right arm for the yellow basket for carrying stuff.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the playingcards box with white accents, then shift the medium yellow basket with slots.",
+    "Place the rectangular playingcards case into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick the compact red playingcards pack, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the red and yellow playingcards case, place it in the rectangular yellow basket.",
+    "Move the rectangular playingcards case to the yellow basket, then shift the yellow basket.",
+    "Grab the hand-sized playingcards container and drop it in the carrying basket with black plastic handle.",
+    "Set the rectangular playingcards case in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Lift the yellow and red playingcards box using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Grab the rectangular playingcards case, set it into the rectangular basket with smooth surface.",
+    "Grab the rectangular playingcards case with one arm, drop the rectangular playingcards case in the basket with perforated sides.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the yellow basket, slide the yellow basket lightly.",
+    "Grab the glossy rectangular playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Take the playingcards box with white accents, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Grab the red playingcards box, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Use one arm to grab the rectangular playingcards case, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the hand-sized playingcards container, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Use one arm to place the box for playingcards in the plastic basket.",
+    "Grab the hand-sized playingcards container, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the hand-sized playingcards container, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Lift the box for playingcards, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Use one arm to place the small playingcards pack in the plastic basket, adjust the plastic basket.",
+    "Put the box for playingcards in the plastic basket, then move the plastic basket away slightly.",
+    "Place the red and yellow playingcards case in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the yellow and red playingcards box, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Pick the rectangular playingcards case and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Put the hand-sized playingcards container in the yellow basket and pull the yellow basket away.",
+    "Pick the small playingcards pack, put it inside the plastic basket.",
+    "Pick up the glossy rectangular playingcards box and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick up the playingcards box with white accents and set it inside the basket with black handle.",
+    "Grab the hand-sized playingcards container, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the handheld basket.",
+    "Take the box for playingcards, put the box for playingcards into the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick and move the hand-sized playingcards container, then shift the basket with black handle.",
+    "Place the rectangular playingcards case into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Pick the red and yellow playingcards case, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the box for playingcards, place it in the rectangular yellow basket.",
+    "Move the smooth playingcards pack to the plastic basket, then shift the plastic basket.",
+    "Grab the yellow and red playingcards box and drop it in the carrying basket with black plastic handle.",
+    "Set the box for playingcards in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Lift the playingcards box with white accents using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Grab the rectangular playingcards case, set it into the basket with perforated sides.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the carrying basket with black plastic handle.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the smooth playingcards pack, drop it in the basket with black handle, shift the basket with black handle.",
+    "Take the hand-sized playingcards container, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Grab the box for playingcards, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Use one arm to grab the smooth playingcards pack, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the red and yellow playingcards case, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Use one arm to place the playingcards box with white accents in the medium yellow basket with slots.",
+    "Grab the box for playingcards, drop it in the handheld basket, then move the handheld basket.",
+    "Lift the red and yellow playingcards case, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Lift the hand-sized playingcards container, place it into the handheld basket, move the handheld basket.",
+    "Use one arm to place the glossy rectangular playingcards box in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Put the playingcards box with white accents in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Place the red playingcards box in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick up the red and yellow playingcards case, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick the smooth playingcards pack and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Put the compact red playingcards pack in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the compact red playingcards pack, put it inside the rectangular basket with smooth surface.",
+    "Pick up the playingcards box with white accents and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick up the rectangular playingcards case and set it inside the handheld basket.",
+    "Grab the red and yellow playingcards case, place it in the handheld basket, then move the handheld basket away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the yellow basket for carrying stuff.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the yellow basket, shift the yellow basket.",
+    "Pick and move the smooth playingcards pack, then shift the yellow basket.",
+    "Place the playingcards box with white accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick the small playingcards pack, place it in the handheld basket, shift the handheld basket.",
+    "Pick the smooth playingcards pack, place it in the rectangular basket with smooth surface.",
+    "Move the smooth playingcards pack to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Grab the red playingcards box and drop it in the basket with black handle.",
+    "Set the red and yellow playingcards case in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Lift the hand-sized playingcards container using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Grab the compact red playingcards pack, set it into the rectangular basket with smooth surface.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the rectangular yellow basket.",
+    "Pick the box for playingcards, drop the box for playingcards in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the playingcards storage box, drop it in the yellow basket, shift the yellow basket.",
+    "Take the red playingcards box, set it in the handheld basket, shift the handheld basket lightly.",
+    "Use the left arm to grab the box for playingcards, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Grab the box for playingcards, drop in the yellow basket, and move the yellow basket.",
+    "Use one arm to grab the compact red playingcards pack, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the red playingcards box, place it in the basket with black handle, grab the basket with black handle.",
+    "Use one arm to place the red and yellow playingcards case in the rectangular basket with smooth surface.",
+    "Grab the yellow and red playingcards box, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Lift the compact red playingcards pack, drop it in the yellow basket, then slightly relocate the yellow basket."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow basket with open slots and move it.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode8.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b56357d44bcfc79b5b663db6a9e6f145dbff1b2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the box for playingcards and drop it in the yellow basket.",
+    "Grab the box for playingcards with one arm, drop the box for playingcards in the rectangular yellow basket.",
+    "Set the yellow and red playingcards box in the yellow basket, and shift the yellow basket away.",
+    "Use one arm to grab the box for playingcards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the compact red playingcards pack, place it in the handheld basket.",
+    "Grab the glossy rectangular playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Pick the smooth playingcards pack and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick up the red playingcards box and drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick the rectangular playingcards case, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the yellow basket, shift the yellow basket.",
+    "Lift the red and yellow playingcards case using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Pick and move the hand-sized playingcards container, then shift the yellow basket for carrying stuff.",
+    "Take the box for playingcards, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick up the playingcards storage box and set it inside the yellow basket.",
+    "Place the rectangular playingcards case into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Use the left arm to pick the glossy rectangular playingcards box, then use the right arm for the bright yellow basket.",
+    "Grab the compact red playingcards pack, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Use one arm to place the yellow and red playingcards box in the bright yellow basket, adjust the bright yellow basket.",
+    "Grab the small playingcards pack, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the rectangular playingcards case, put it in the yellow basket, shift the yellow basket a little.",
+    "Put the glossy rectangular playingcards box in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the red playingcards box, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the box for playingcards, drop the box for playingcards in the handheld basket, slide the handheld basket lightly.",
+    "Pick the rectangular playingcards case, put it inside the plastic basket.",
+    "Grab the playingcards box with white accents, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Pick up the compact red playingcards pack, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the small playingcards pack in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Grab the yellow and red playingcards box, set it into the rectangular basket with smooth surface.",
+    "Put the small playingcards pack in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the yellow and red playingcards box to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Lift the box for playingcards, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Use one arm to place the red and yellow playingcards case in the carrying basket with black plastic handle.",
+    "Grab the red and yellow playingcards case and drop it in the rectangular yellow basket.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the yellow basket.",
+    "Set the glossy rectangular playingcards box in the bright yellow basket, and shift the bright yellow basket away.",
+    "Use one arm to grab the playingcards storage box, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the hand-sized playingcards container, place it in the bright yellow basket.",
+    "Grab the red playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Pick the glossy rectangular playingcards box and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the rectangular playingcards case, place it in the basket with black handle, shift the basket with black handle.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the basket with arched black grip, shift the basket with arched black grip.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Pick and move the rectangular playingcards case, then shift the basket with arched black grip.",
+    "Take the smooth playingcards pack, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick up the playingcards box with white accents and set it inside the yellow basket for carrying stuff.",
+    "Place the compact red playingcards pack into the basket with black handle and push the basket with black handle slightly away.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the yellow basket for carrying stuff.",
+    "Grab the box for playingcards, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Use one arm to place the box for playingcards in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Grab the box for playingcards, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the red and yellow playingcards case, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Put the small playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Lift the glossy rectangular playingcards box, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the small playingcards pack, drop the small playingcards pack in the basket with black handle, slide the basket with black handle lightly.",
+    "Pick the red playingcards box, put it inside the basket with perforated sides.",
+    "Grab the red and yellow playingcards case, drop in the plastic basket, and move the plastic basket.",
+    "Pick up the playingcards storage box, place it in the yellow basket, grab the yellow basket.",
+    "Place the red and yellow playingcards case in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Grab the glossy rectangular playingcards box, set it into the carrying basket with black plastic handle.",
+    "Put the yellow and red playingcards box in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Move the yellow and red playingcards box to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Use the left arm to grab the red playingcards box, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Lift the small playingcards pack, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Use one arm to place the playingcards box with white accents in the basket with black handle.",
+    "Grab the smooth playingcards pack and drop it in the basket with arched black grip.",
+    "Grab the box for playingcards with one arm, drop the box for playingcards in the carrying basket with black plastic handle.",
+    "Set the hand-sized playingcards container in the carrying basket with black plastic handle, and shift the carrying basket with black plastic handle away.",
+    "Use one arm to grab the box for playingcards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the smooth playingcards pack, place it in the handheld basket.",
+    "Grab the hand-sized playingcards container, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick the box for playingcards and position it in the yellow basket, move the yellow basket slightly.",
+    "Pick up the small playingcards pack and drop it in the plastic basket, then move the plastic basket.",
+    "Pick the playingcards box with white accents, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Take the glossy rectangular playingcards box, put the glossy rectangular playingcards box into the handheld basket, shift the handheld basket.",
+    "Lift the box for playingcards using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Pick and move the red playingcards box, then shift the handheld basket.",
+    "Take the rectangular playingcards case, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Pick up the hand-sized playingcards container and set it inside the handheld basket.",
+    "Place the red playingcards box into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Use the left arm to pick the box for playingcards, then use the right arm for the rectangular basket with smooth surface.",
+    "Grab the playingcards box with white accents, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to place the yellow and red playingcards box in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Grab the playingcards storage box, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Pick up the small playingcards pack, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Put the playingcards box with white accents in the bright yellow basket and pull the bright yellow basket away.",
+    "Lift the playingcards storage box, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the box for playingcards, drop the box for playingcards in the yellow basket, slide the yellow basket lightly.",
+    "Pick the hand-sized playingcards container, put it inside the bright yellow basket.",
+    "Grab the box for playingcards, drop in the yellow basket, and move the yellow basket.",
+    "Pick up the playingcards box with white accents, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Place the small playingcards pack in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the playingcards box with white accents, set it into the bright yellow basket.",
+    "Put the glossy rectangular playingcards box in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Move the box for playingcards to the handheld basket, then shift the handheld basket.",
+    "Use the left arm to grab the glossy rectangular playingcards box, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Lift the glossy rectangular playingcards box, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Use one arm to place the rectangular playingcards case in the yellow basket for carrying stuff.",
+    "Grab the red and yellow playingcards case and drop it in the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards and drop in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small box for playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the medium-sized basket with perforated texture and move it.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the medium-sized basket with perforated texture.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it into the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode9.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..08133a9bbb5324df272e2a3d630d3950375cfe07
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene1/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the playingcards box with white symbols and drop it in the smooth ribbed light brown basket.",
+    "Use the right 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 left arm.",
+    "Lift the box of playingcards using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop in the basket for holding items, and move the basket for holding items.",
+    "Pick the card box with golden designs and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the playingcards pack with blue top, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Put the small playingcards container in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Lift the palm-sized playingcards carton, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Lift the rectangular blue playingcards case, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the blue and white playingcards packaging in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket with handle, slide the basket with handle lightly.",
+    "Pick the card box with golden designs, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue carton for playingcards and set it inside the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the light brown oval basket, shift the light brown oval basket.",
+    "Grab the small playingcards container, set it into the light brown oval basket.",
+    "Take the playingcards box with white symbols, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the blue carton for playingcards, place it in the basket for holding items, then move the basket for holding items away.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the smooth ribbed light brown basket.",
+    "Pick up the smooth playingcards holder and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the brown basket with woven ridges.",
+    "Pick the playingcards box with white symbols, put it inside the light brown oval basket.",
+    "Use one arm to place the card box with golden designs in the wooden basket with curved handle.",
+    "Pick and move the blue pack holding playingcards, then shift the woven basket.",
+    "Use one arm to place the blue playingcards box in the wooden basket with curved handle, adjust 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.",
+    "Set the small playingcards container in the woven basket, and shift the woven basket away.",
+    "Move the rectangular blue playingcards case to the basket for holding items, then shift the basket for holding items.",
+    "Place the playingcards box with white symbols in the brown basket, then grab the brown basket.",
+    "Grab the playingcards pack with blue top and drop it in the brown basket with woven ridges.",
+    "Use the right arm to grab the playingcards box with white symbols, place it in the basket with handle, and move the basket with handle using the left arm.",
+    "Lift the card box with golden designs using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the card box with golden designs, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue playingcards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the small playingcards container and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the rectangular blue playingcards case, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the smooth playingcards holder, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the blue pack holding playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the basket with handle, slide the basket with handle lightly.",
+    "Pick the smooth playingcards holder, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue carton for playingcards and set it inside the oval-shaped basket with woven body.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the rectangular blue playingcards case, set it into the woven basket.",
+    "Take the blue playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the smooth playingcards holder, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop it in the brown basket, then move the brown basket.",
+    "Grab the box of playingcards, place it in the woven basket, then move the woven basket away.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket with loop handle.",
+    "Pick up the playingcards box with white symbols and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use the right arm to pick the box of playingcards, then use the left arm for the wooden basket with curved handle.",
+    "Pick the card box with golden designs, put it inside the wooden basket with curved handle.",
+    "Use one arm to place the smooth playingcards holder in the basket for carrying things.",
+    "Pick and move the palm-sized playingcards carton, then shift the wooden basket with curved handle.",
+    "Use one arm to place the small playingcards container in the brown basket, adjust the brown basket.",
+    "Place the small playingcards container into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the playingcards box with white symbols in the woven basket, and shift the woven basket away.",
+    "Move the smooth playingcards holder to the light brown oval basket, then shift the light brown oval basket.",
+    "Place the box of playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder and drop it in the oval-shaped basket with woven body.",
+    "Use the right arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the left arm.",
+    "Lift the blue pack holding playingcards using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "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.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the palm-sized playingcards carton, drop in the brown basket, and move the brown basket.",
+    "Pick the palm-sized playingcards carton and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Put the blue and white playingcards packaging in the basket for holding items, then move the basket for holding items away slightly.",
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate 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.",
+    "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.",
+    "Pick the blue carton for playingcards, place it in the oval-shaped basket with woven body.",
+    "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.",
+    "Pick the blue pack holding playingcards, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the blue playingcards box and set it inside the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket with handle, shift the basket with handle.",
+    "Grab the blue and white playingcards packaging, set it into the brown 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.",
+    "Pick up the small playingcards container, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the blue carton for playingcards, place it in the brown basket, then move the brown basket away.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use the right arm to pick the blue playingcards box, then use the left arm for the light brown oval basket.",
+    "Pick the playingcards box with white symbols, put it inside the basket for carrying things.",
+    "Use one arm to place the blue and white playingcards packaging in the woven basket.",
+    "Pick and move the blue carton for playingcards, then shift the basket with loop handle.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Place the blue carton for playingcards into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Set the rectangular blue playingcards case in the light brown oval basket, and shift the light brown oval basket away.",
+    "Move the small playingcards container to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Place the box of playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the small playingcards container and drop it in the light brown oval basket."
+  ],
+  "unseen": [
+    "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 oval basket with medium storage space and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "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 and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "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.",
+    "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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "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.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the 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.",
+    "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 rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the 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 rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "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 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.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "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 basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the 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 oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, 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.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the 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 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.",
+    "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.",
+    "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.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "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.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the 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.",
+    "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 medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode0.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b36ec612a5126783ee8120229db3e29b000383c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the toycar for kids, put the toycar for kids into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Move the toycar for kids to the plastic basket, then shift the plastic basket.",
+    "Put the toycar for kids in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the plastic basket, slide the plastic basket lightly.",
+    "Set the toycar with smiling face design in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Place the small blue car-shaped toycar into the handheld basket and push the handheld basket slightly away.",
+    "Pick the bright blue toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the blue toycar with white windows, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the small blue car-shaped toycar, put it inside the bright yellow basket.",
+    "Lift the glossy blue toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Take the toycar with smiling face design, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Pick the bright blue toycar, place it in the basket with black handle.",
+    "Use one arm to place the blue toycar with white windows in the basket with perforated sides.",
+    "Lift the bright blue toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Use the left arm to grab the plastic toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Use one arm to place the bright blue toycar in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Place the toycar with rounded edges in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Grab the toycar with black and orange wheels, drop it in the handheld basket, shift the handheld basket.",
+    "Use the left arm to pick the lightweight toycar, then use the right arm for the basket with black handle.",
+    "Use one arm to grab the lightweight toycar, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the toycar for kids, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Lift the bright blue toycar, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels and drop it in the basket with arched black grip.",
+    "Grab the lightweight toycar, set it into the yellow basket.",
+    "Pick and move the glossy blue toycar, then shift the rectangular basket with smooth surface.",
+    "Pick the toycar with black and orange wheels and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick up the small toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Put the plastic toycar in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Pick up the toycar with rounded edges and set it inside the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels, drop in the plastic basket, and move the plastic basket.",
+    "Grab the toycar with rounded edges, place it in the basket with black handle, then move the basket with black handle away.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the plastic basket.",
+    "Pick up the glossy blue toycar, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Take the small toycar, put the small toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Move the toycar with rounded edges to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Put the toycar with rounded edges in the handheld basket and pull the handheld basket away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Set the toycar with rounded edges in the handheld basket, and shift the handheld basket away.",
+    "Place the palm-sized plastic toycar into the yellow basket and push the yellow basket slightly away.",
+    "Pick the blue toycar with white windows, place it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Grab the plastic toycar, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the palm-sized plastic toycar, put it inside the yellow basket.",
+    "Lift the toycar for kids using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm.",
+    "Take the glossy blue toycar, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick the toycar with black and orange wheels, place it in the basket with perforated sides.",
+    "Use one arm to place the small toycar in the rectangular yellow basket.",
+    "Lift the lightweight toycar, place it into the yellow basket, move the yellow basket.",
+    "Use the left arm to grab the small toycar, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Use one arm to place the toycar with smiling face design in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Place the toycar with rounded edges in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Grab the toycar with smiling face design, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use the left arm to pick the toycar with black and orange wheels, then use the right arm for the rectangular basket with smooth surface.",
+    "Use one arm to grab the bright blue toycar, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the toycar with smiling face design, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Lift the toycar with rounded edges, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the palm-sized plastic toycar and drop it in the plastic basket.",
+    "Grab the toycar with smiling face design, set it into the basket with black handle.",
+    "Pick and move the small blue car-shaped toycar, then shift the bright yellow basket.",
+    "Pick the plastic toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick up the lightweight toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Put the small toycar in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Pick up the bright blue toycar and set it inside the yellow basket.",
+    "Grab the toycar for kids, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the toycar for kids, place it in the handheld basket, then move the handheld basket away.",
+    "Grab the plastic toycar with one arm, drop the plastic toycar in the handheld basket.",
+    "Pick up the toycar with black and orange wheels, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Take the toycar for kids, put the toycar for kids into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Move the palm-sized plastic toycar to the plastic basket, then shift the plastic basket.",
+    "Put the glossy blue toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Set the small blue car-shaped toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Place the blue toycar with white windows into the handheld basket and push the handheld basket slightly away.",
+    "Pick the toycar for kids, place it in the handheld basket, shift the handheld basket.",
+    "Grab the palm-sized plastic toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Pick the small blue car-shaped toycar, put it inside the plastic basket.",
+    "Lift the toycar with rounded edges using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Take the lightweight toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Pick the plastic toycar, place it in the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar for kids in the basket with black handle.",
+    "Lift the lightweight toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Use the left arm to grab the toycar with smiling face design, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Use one arm to place the toycar for kids in the plastic basket, adjust the plastic basket.",
+    "Place the toycar with rounded edges in the plastic basket, then grab the plastic basket.",
+    "Grab the toycar with rounded edges, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the yellow basket.",
+    "Use one arm to grab the palm-sized plastic toycar, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the plastic toycar, place it in the yellow basket, grab the yellow basket.",
+    "Lift the toycar with smiling face design, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Grab the toycar with rounded edges and drop it in the carrying basket with black plastic handle.",
+    "Grab the toycar with black and orange wheels, set it into the medium yellow basket with slots.",
+    "Pick and move the blue toycar with white windows, then shift the handheld basket.",
+    "Pick the toycar for kids and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick up the toycar with rounded edges and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Put the bright blue toycar in the basket with black handle, then move the basket with black handle away slightly.",
+    "Pick up the lightweight toycar and set it inside the plastic basket.",
+    "Grab the toycar for kids, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Grab the blue toycar with white windows, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the basket with perforated sides.",
+    "Pick up the palm-sized plastic toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the basket with perforated sides, shift the basket with perforated sides."
+  ],
+  "unseen": [
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode1.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbba8c8be8ed41df79cc3cd84ac19c940ef99044
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the toycar for kids, put it inside the basket with arched black grip.",
+    "Use the left arm to grab the small blue car-shaped toycar, place it in the plastic basket, and move the plastic basket using the right arm.",
+    "Set the bright blue toycar in the plastic basket, and shift the plastic basket away.",
+    "Lift the glossy blue toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the palm-sized plastic toycar using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Use one arm to grab the bright blue toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the plastic toycar, place it in the yellow basket, shift the yellow basket.",
+    "Put the lightweight toycar in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the toycar with black and orange wheels to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick and move the plastic toycar, then shift the rectangular basket with smooth surface.",
+    "Use one arm to place the blue toycar with white windows in the bright yellow basket, adjust the bright yellow basket.",
+    "Place the toycar with rounded edges into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick the lightweight toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Pick the plastic toycar, drop the plastic toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Put the lightweight toycar in the handheld basket and pull the handheld basket away.",
+    "Pick up the bright blue toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the palm-sized plastic toycar, drop in the yellow basket, and move the yellow basket.",
+    "Pick up the toycar with smiling face design, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Use the left arm to pick the blue toycar with white windows, then use the right arm for the rectangular yellow basket.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the bright yellow basket, shift the bright yellow basket.",
+    "Pick up the small toycar, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the palm-sized plastic toycar and drop it in the plastic basket.",
+    "Use one arm to place the plastic toycar in the handheld basket.",
+    "Grab the toycar with rounded edges, set it into the medium yellow basket with slots.",
+    "Grab the toycar for kids, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Place the toycar with black and orange wheels in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Take the small toycar, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Pick the lightweight toycar, place it in the carrying basket with black plastic handle.",
+    "Grab the palm-sized plastic toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Pick up the small blue car-shaped toycar and set it inside the basket with black handle.",
+    "Lift the plastic toycar, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the toycar for kids, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Grab the toycar for kids with one arm, drop the toycar for kids in the bright yellow basket.",
+    "Pick the palm-sized plastic toycar, put it inside the medium yellow basket with slots.",
+    "Use the left arm to grab the lightweight toycar, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Set the blue toycar with white windows in the handheld basket, and shift the handheld basket away.",
+    "Lift the toycar with smiling face design, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the small blue car-shaped toycar using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the plastic basket, then move the plastic basket.",
+    "Pick the small toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Put the toycar with black and orange wheels in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the toycar with black and orange wheels to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick and move the lightweight toycar, then shift the yellow basket for carrying stuff.",
+    "Use one arm to place the toycar with smiling face design in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Place the toycar with rounded edges into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick the lightweight toycar and position it in the handheld basket, move the handheld basket slightly.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Put the lightweight toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the toycar with smiling face design and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the toycar with smiling face design, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the palm-sized plastic toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the bright yellow basket.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the yellow basket, shift the yellow basket.",
+    "Pick up the blue toycar with white windows, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar for kids and drop it in the yellow basket.",
+    "Use one arm to place the small blue car-shaped toycar in the plastic basket.",
+    "Grab the glossy blue toycar, set it into the rectangular yellow basket.",
+    "Grab the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Place the lightweight toycar in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Take the small blue car-shaped toycar, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick the toycar for kids, place it in the bright yellow basket.",
+    "Grab the toycar with smiling face design, place it in the yellow basket, then move the yellow basket away.",
+    "Pick up the bright blue toycar and set it inside the medium yellow basket with slots.",
+    "Lift the glossy blue toycar, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Grab the glossy blue toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Grab the toycar with black and orange wheels with one arm, drop the toycar with black and orange wheels in the yellow basket for carrying stuff.",
+    "Pick the toycar with black and orange wheels, put it inside the rectangular yellow basket.",
+    "Use the left arm to grab the toycar for kids, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Set the palm-sized plastic toycar in the yellow basket, and shift the yellow basket away.",
+    "Lift the plastic toycar, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Lift the small blue car-shaped toycar using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Use one arm to grab the glossy blue toycar, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick the small toycar, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Put the small blue car-shaped toycar in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Move the toycar with rounded edges to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick and move the blue toycar with white windows, then shift the rectangular basket with smooth surface.",
+    "Use one arm to place the toycar with rounded edges in the basket with black handle, adjust the basket with black handle.",
+    "Place the bright blue toycar into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick the bright blue toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick the palm-sized plastic toycar, drop the palm-sized plastic toycar in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Put the glossy blue toycar in the yellow basket and pull the yellow basket away.",
+    "Pick up the toycar with black and orange wheels and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the toycar with smiling face design, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the small toycar, place it in the handheld basket, grab the handheld basket.",
+    "Use the left arm to pick the toycar for kids, then use the right arm for the carrying basket with black plastic handle.",
+    "Take the bright blue toycar, put the bright blue toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the lightweight toycar, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Grab the bright blue toycar and drop it in the basket with arched black grip.",
+    "Use one arm to place the toycar for kids in the basket with perforated sides.",
+    "Grab the small blue car-shaped toycar, set it into the rectangular yellow basket.",
+    "Grab the toycar with smiling face design, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Place the small toycar in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Take the toycar with smiling face design, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Pick the small blue car-shaped toycar, place it in the basket with black handle.",
+    "Grab the toycar with black and orange wheels, place it in the handheld basket, then move the handheld basket away.",
+    "Pick up the toycar for kids and set it inside the yellow basket for carrying stuff.",
+    "Lift the toycar with smiling face design, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Grab the lightweight toycar, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the rectangular yellow basket.",
+    "Pick the toycar with rounded edges, put it inside the basket with black handle."
+  ],
+  "unseen": [
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode10.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..b620cbd491b8c4327a0f7e32978d738d2666a01b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact red playingcards pack, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Use the right arm to pick the red playingcards box, then use the left arm for the smooth ribbed light brown basket.",
+    "Use one arm to place the small playingcards pack in the brown basket with woven ridges.",
+    "Use one arm to place the yellow and red playingcards box in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the box for playingcards in the basket with handle, then move the basket with handle away slightly.",
+    "Lift the yellow and red playingcards box using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the smooth playingcards pack, place it in the basket for holding items.",
+    "Place the box for playingcards in the basket for holding items, then grab the basket for holding items.",
+    "Use the right arm to grab the red and yellow playingcards case, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Set the playingcards storage box in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick up the hand-sized playingcards container, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Take the rectangular playingcards case, set it in the woven basket, shift the woven basket lightly.",
+    "Lift the small playingcards pack, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Pick the yellow and red playingcards box, put it inside the basket with handle.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Put the yellow and red playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Place the box for playingcards into the brown basket and push the brown basket slightly away.",
+    "Grab the compact red playingcards pack, set it into the woven basket.",
+    "Pick up the small playingcards pack and set it inside the basket with handle.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the basket for holding items, slide the basket for holding items lightly.",
+    "Move the glossy rectangular playingcards box to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards pack, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the rectangular playingcards case, drop it in the woven basket, then move the woven basket.",
+    "Pick the red playingcards box, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick and move the small playingcards pack, then shift the brown basket with woven ridges.",
+    "Pick up the rectangular playingcards case, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the wooden basket with curved handle.",
+    "Grab the red and yellow playingcards case and drop it in the basket for carrying things.",
+    "Pick the playingcards box with white accents and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the brown basket, then move the brown basket.",
+    "Grab the box for playingcards, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the playingcards box with white accents, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Lift the box for playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to pick the red playingcards box, then use the left arm for the basket made of woven wood.",
+    "Use one arm to place the rectangular playingcards case in the brown basket with woven ridges.",
+    "Use one arm to place the box for playingcards in the light brown oval basket, adjust the light brown oval basket.",
+    "Put the playingcards storage box in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Lift the yellow and red playingcards box using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the brown basket, shift the brown basket.",
+    "Pick the red playingcards box, place it in the brown basket.",
+    "Place the red playingcards box in the brown basket, then grab the brown basket.",
+    "Use the right arm to grab the rectangular playingcards case, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Set the smooth playingcards pack in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the small playingcards pack, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Take the red playingcards box, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Lift the glossy rectangular playingcards box, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick the small playingcards pack, put it inside the light brown oval basket.",
+    "Use one arm to grab the playingcards storage box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the red playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Place the red and yellow playingcards case into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Grab the playingcards storage box, set it into the basket for holding items.",
+    "Pick up the red playingcards box and set it inside the brown basket.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the basket with handle, slide the basket with handle lightly.",
+    "Move the playingcards box with white accents to the basket for holding items, then shift the basket for holding items.",
+    "Grab the playingcards storage box, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Grab the glossy rectangular playingcards box, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the yellow and red playingcards box, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick and move the small playingcards pack, then shift the basket with handle.",
+    "Pick up the red and yellow playingcards case, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the oval-shaped basket with woven body.",
+    "Grab the compact red playingcards pack and drop it in the basket made of woven wood.",
+    "Pick the playingcards storage box and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the smooth playingcards pack and drop it in the woven basket, then move the woven basket.",
+    "Grab the rectangular playingcards case, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the box for playingcards, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Lift the hand-sized playingcards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to pick the playingcards storage box, then use the left arm for the oval-shaped basket with woven body.",
+    "Use one arm to place the smooth playingcards pack in the basket with loop handle.",
+    "Use one arm to place the compact red playingcards pack in the woven basket, adjust the woven basket.",
+    "Put the red playingcards box in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Lift the hand-sized playingcards container using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the red and yellow playingcards case, place it in the brown basket.",
+    "Place the red playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Use the right arm to grab the rectangular playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Set the yellow and red playingcards box in the basket with handle, and shift the basket with handle away.",
+    "Pick up the box for playingcards, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Take the hand-sized playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Lift the red and yellow playingcards case, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the glossy rectangular playingcards box, put it inside the basket for carrying things.",
+    "Use one arm to grab the red playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the small playingcards pack in the basket with handle and pull the basket with handle away.",
+    "Place the compact red playingcards pack into the brown basket and push the brown basket slightly away.",
+    "Grab the playingcards storage box, set it into the woven basket.",
+    "Pick up the playingcards box with white accents and set it inside the basket for holding items.",
+    "Pick the red playingcards box, drop the red playingcards box in the brown basket, slide the brown basket lightly.",
+    "Move the box for playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the box for playingcards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Grab the playingcards box with white accents, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the hand-sized playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick and move the yellow and red playingcards box, then shift the smooth ribbed light brown basket.",
+    "Pick up the yellow and red playingcards box, place it in the basket with handle, grab the basket with handle.",
+    "Grab the red and yellow playingcards case with one arm, drop the red and yellow playingcards case in the basket made of woven wood.",
+    "Grab the yellow and red playingcards box and drop it in the basket for holding items.",
+    "Pick the box for playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the playingcards storage box, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the compact red playingcards pack, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Lift the box for playingcards, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode11.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7b3a3e6a05ac60e9761ab21b339613583542cf
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the light brown oval basket.",
+    "Put the yellow and red playingcards box in the brown basket, then move the brown basket away slightly.",
+    "Grab the red and yellow playingcards case, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Place the red playingcards box into the basket with handle and push the basket with handle slightly away.",
+    "Use one arm to place the smooth playingcards pack in the basket made of woven wood.",
+    "Move the glossy rectangular playingcards box to the basket for holding items, then shift the basket for holding items.",
+    "Grab the smooth playingcards pack, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the rectangular playingcards case, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Lift the small playingcards pack 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.",
+    "Use the left arm to grab the red and yellow playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Set the glossy rectangular playingcards box in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the glossy rectangular playingcards box, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to grab the hand-sized playingcards container, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the woven basket, slide the woven basket lightly.",
+    "Pick the playingcards box with white accents, put it inside the basket with loop handle.",
+    "Grab the playingcards box with white accents with one arm, drop the playingcards box with white accents in the woven basket.",
+    "Grab the hand-sized playingcards container and drop it in the basket made of woven wood.",
+    "Pick the hand-sized playingcards container and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the red playingcards box, set it into the brown basket with woven ridges.",
+    "Pick the compact red playingcards pack, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick the playingcards box with white accents, place it in the brown basket with woven ridges.",
+    "Grab the red playingcards box, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the box for playingcards, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Place the smooth playingcards pack in the light brown oval basket, then grab the light brown oval basket.",
+    "Lift the box for playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Put the smooth playingcards pack in the woven basket and pull the woven basket away.",
+    "Lift the compact red playingcards pack, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the playingcards storage box and set it inside the basket with handle.",
+    "Take the playingcards storage box, put the playingcards storage box into the light brown oval basket, shift the light brown oval basket.",
+    "Take the playingcards box with white accents, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick and move the smooth playingcards pack, then shift the wooden basket with curved handle.",
+    "Use one arm to place the rectangular playingcards case in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick up the yellow and red playingcards box and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the oval-shaped basket with woven body.",
+    "Put the rectangular playingcards case in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the yellow and red playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Place the red and yellow playingcards case into the basket with handle and push the basket with handle slightly away.",
+    "Use one arm to place the playingcards storage box in the oval-shaped basket with woven body.",
+    "Move the hand-sized playingcards container to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the hand-sized playingcards container, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the red and yellow playingcards case, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Lift the smooth playingcards pack using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Use the left arm to grab the red playingcards box, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Set the compact red playingcards pack in the basket with handle, and shift the basket with handle away.",
+    "Pick up the box for playingcards, put it in the basket with handle, shift the basket with handle a little.",
+    "Use one arm to grab the yellow and red playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the playingcards box with white accents, put it inside the basket for carrying things.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the light brown oval basket.",
+    "Grab the yellow and red playingcards box and drop it in the wooden basket with curved handle.",
+    "Pick the box for playingcards and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Grab the hand-sized playingcards container, set it into the light brown oval basket.",
+    "Pick the box for playingcards, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the playingcards storage box, place it in the basket with handle.",
+    "Grab the playingcards storage box, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the smooth playingcards pack, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Place the playingcards storage box in the woven basket, then grab the woven basket.",
+    "Lift the box for playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the yellow and red playingcards box in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Lift the red playingcards box, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the playingcards box with white accents and set it inside the basket with loop handle.",
+    "Take the red playingcards box, put the red playingcards box into the brown basket, shift the brown basket.",
+    "Take the compact red playingcards pack, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick and move the box for playingcards, then shift the oval-shaped basket with woven body.",
+    "Use one arm to place the box for playingcards in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the box for playingcards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the basket for carrying things.",
+    "Put the glossy rectangular playingcards box in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the small playingcards pack, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Place the small playingcards pack into the woven basket and push the woven basket slightly away.",
+    "Use one arm to place the playingcards box with white accents in the basket with handle.",
+    "Move the playingcards storage box to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the small playingcards pack, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick up the yellow and red playingcards box, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Use the left arm to grab the red and yellow playingcards case, place it in the woven basket, and move the woven basket using the right arm.",
+    "Set the small playingcards pack in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Pick up the red playingcards box, put it in the brown basket, shift the brown basket a little.",
+    "Use one arm to grab the yellow and red playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Pick the red and yellow playingcards case, put it inside the brown basket.",
+    "Grab the glossy rectangular playingcards box with one arm, drop the glossy rectangular playingcards box in the light brown oval basket.",
+    "Grab the box for playingcards and drop it in the smooth ribbed light brown basket.",
+    "Pick the box for playingcards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the compact red playingcards pack, set it into the light brown oval basket.",
+    "Pick the hand-sized playingcards container, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the rectangular playingcards case, place it in the smooth ribbed light brown basket.",
+    "Grab the rectangular playingcards case, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the glossy rectangular playingcards box, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Place the box for playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the playingcards box with white accents, place it into the light brown oval basket, move the light brown oval basket.",
+    "Put the hand-sized playingcards container in the woven basket and pull the woven basket away.",
+    "Lift the rectangular playingcards case, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Pick up the yellow and red playingcards box and set it inside the light brown oval basket.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the basket for carrying things, shift the basket for carrying things.",
+    "Take the glossy rectangular playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Pick and move the yellow and red playingcards box, then shift the light brown oval basket.",
+    "Use one arm to place the box for playingcards in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the rectangular playingcards case and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Use the left arm to pick the glossy rectangular playingcards box, then use the right arm for the brown basket."
+  ],
+  "unseen": [
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, 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 box for playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode12.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..25938cee4449f5e926a7b042db66de1afa91aeca
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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 box of playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Grab the blue carton for playingcards, set it into the light brown oval basket.",
+    "Put the small playingcards container in the woven basket, then move the woven basket away slightly.",
+    "Grab the palm-sized playingcards carton and drop it in the basket for holding items.",
+    "Move the blue pack holding playingcards to the woven basket, then shift the woven basket.",
+    "Pick the rectangular blue playingcards case, put it inside the basket with loop handle.",
+    "Pick up the playingcards box with white symbols and set it inside the basket for carrying things.",
+    "Lift the blue carton for playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Use the right arm to grab the card box with golden designs, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Put the rectangular blue playingcards case in the woven basket and pull the woven basket away.",
+    "Pick up the small playingcards container, put it in the woven basket, shift the woven basket a little.",
+    "Take the blue playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket, then move the brown basket.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue and white playingcards packaging, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Grab the small playingcards container, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the card box with golden designs, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Place the playingcards pack with blue top into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use one arm to grab the smooth playingcards holder, place it in the brown basket, then move the brown basket.",
+    "Pick the blue and white playingcards packaging and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the brown basket, slide the brown basket lightly.",
+    "Use the right arm to pick the blue carton for playingcards, then use the left arm for the wooden basket with curved handle.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the card box with golden designs and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the box of playingcards, then shift the basket for carrying things.",
+    "Grab the blue playingcards box, drop in the woven basket, and move the woven basket.",
+    "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 small playingcards container using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use one arm to place the blue and white playingcards packaging in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the small playingcards container, 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 smooth ribbed light brown basket.",
+    "Use one arm to place the blue and white playingcards packaging in the basket with handle.",
+    "Set the small playingcards container in the brown basket, and shift the brown basket away.",
+    "Lift the palm-sized playingcards carton, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Grab the palm-sized playingcards carton, set it into the light brown oval basket.",
+    "Put the box of playingcards in the woven basket, then move the woven basket away slightly.",
+    "Grab the rectangular blue playingcards case and drop it in the oval-shaped basket with woven body.",
+    "Move the blue and white playingcards packaging to the basket with handle, then shift the basket with handle.",
+    "Pick the small playingcards container, put it inside the basket with loop handle.",
+    "Pick up the playingcards pack with blue top and set it inside the brown basket.",
+    "Lift the blue pack holding playingcards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use the right arm to grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the left arm.",
+    "Put the card box with golden designs in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick up the blue pack holding playingcards, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Take the card box with golden designs, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Grab the playingcards box with white symbols, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick the card box with golden designs, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "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.",
+    "Grab the blue and white playingcards packaging, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the rectangular blue playingcards case, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Place the blue and white playingcards packaging into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "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.",
+    "Pick the small playingcards container and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick the box of playingcards, drop the box of playingcards in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Use the right arm to pick the box of playingcards, then use the left arm for the basket for holding items.",
+    "Place the box of playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the box of playingcards and drop it in the basket with handle, then move the basket with handle.",
+    "Pick and move the playingcards box with white symbols, then shift the basket with handle.",
+    "Grab the card box with golden designs, drop in the light brown oval basket, and move the light brown oval basket.",
+    "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.",
+    "Lift the card box with golden designs using the right arm, drop it in the basket with handle, then push the basket with handle via the left arm.",
+    "Use one arm to place the box of playingcards in the brown basket, adjust the brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the basket for holding items.",
+    "Use one arm to place the playingcards box with white symbols in the brown basket with woven ridges.",
+    "Set the blue playingcards box in the basket for holding items, and shift the basket for holding items away.",
+    "Lift the small playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the blue and white playingcards packaging, set it into the light brown oval basket.",
+    "Put the small playingcards container in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the small playingcards container and drop it in the basket with handle.",
+    "Move the palm-sized playingcards carton to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick the blue and white playingcards packaging, put it inside the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and set it inside the oval-shaped basket with woven body.",
+    "Lift the blue and white playingcards packaging, place it into the basket with handle, move the basket with handle.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Put the playingcards box with white symbols in the brown basket and pull the brown basket 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.",
+    "Take the palm-sized playingcards carton, set it in the woven basket, shift the woven basket lightly.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the small playingcards container, place it in the brown basket, shift the brown basket.",
+    "Grab the blue playingcards box, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Grab the blue carton for playingcards, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the playingcards box with white symbols, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Place the blue playingcards box into the brown basket and push the brown basket slightly away.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the woven basket, then move the woven basket.",
+    "Pick the blue pack holding playingcards and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Use the right arm to pick the rectangular blue playingcards case, then use the left arm for the woven basket.",
+    "Place the small playingcards container in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the small playingcards container, then shift the light brown oval basket.",
+    "Grab the rectangular blue playingcards case, drop in the brown basket, and move the brown basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the blue carton for playingcards using the right arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the left arm.",
+    "Use one arm to place the blue playingcards box in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick the blue carton for playingcards, place it in the basket with handle.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the smooth ribbed light brown basket.",
+    "Use one arm to place the smooth playingcards holder in the basket with loop handle.",
+    "Set the small playingcards container in the brown basket, and shift the brown basket away."
+  ],
+  "unseen": [
+    "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 pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "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.",
+    "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 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 small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the 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 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 oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the 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 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.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards 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 pack and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the 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 oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "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 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.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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 basket with rounded edges.",
+    "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 medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, 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.",
+    "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, 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.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "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 basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode13.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71a7314f3d7699a0444cb2fe2e7516e26431e14
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the bright blue toycar with roof buttons, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick and move the bright blue toycar with roof buttons, then shift the bright yellow basket.",
+    "Lift the bright blue toycar with roof buttons, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Take the hand-sized rolling toycar, put the hand-sized rolling toycar into the handheld basket, shift the handheld basket.",
+    "Pick the compact glossy blue toycar, put it inside the rectangular yellow basket.",
+    "Pick up the plastic toycar with smooth finish and set it inside the bright yellow basket.",
+    "Put the bright blue toycar with roof buttons in the basket with black handle, then move the basket with black handle away slightly.",
+    "Lift the compact glossy blue toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Use one arm to place the toycar with black wheels in the rectangular yellow basket.",
+    "Pick up the kids' toycar in bright blue, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Pick the hand-sized rolling toycar, drop the hand-sized rolling toycar in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Move the plastic toycar with smooth finish to the plastic basket, then shift the plastic basket.",
+    "Grab the compact glossy blue toycar, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Put the toycar with dark gray windows in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Pick up the kids' toycar in bright blue and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the plastic toycar with smooth finish, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to grab the kids' toycar in bright blue, place it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar made of plastic material, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Grab the compact glossy blue toycar with one arm, drop the compact glossy blue toycar in the basket with black handle.",
+    "Use one arm to place the toycar with dark gray windows in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Take the blue toycar with yellow roof accents, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick up the toycar with black wheels, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the small plastic toycar in the handheld basket, then grab the handheld basket.",
+    "Grab the kids' toycar in bright blue, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with rounded edges, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the toycar featuring black and white wheels, set it into the bright yellow basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the left arm.",
+    "Use the right arm to pick the toycar with dark gray windows, then use the left arm for the carrying basket with black plastic handle.",
+    "Place the bright blue toycar with roof buttons into the yellow basket and push the yellow basket slightly away.",
+    "Pick the plastic toycar with smooth finish and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the compact glossy blue toycar, place it in the basket with arched black grip.",
+    "Set the plastic toycar with smooth finish in the carrying basket with black plastic handle, and shift the carrying basket with black plastic handle away.",
+    "Grab the bright blue toycar with roof buttons and drop it in the yellow basket.",
+    "Use the right arm to grab the toycar with black wheels, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick and move the toycar made of plastic material, then shift the basket with perforated sides.",
+    "Lift the kids' toycar in bright blue, place it into the yellow basket, move the yellow basket.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar featuring black and white wheels, put it inside the handheld basket.",
+    "Pick up the kids' toycar in bright blue and set it inside the rectangular basket with smooth surface.",
+    "Put the toycar made of plastic material in the basket with black handle, then move the basket with black handle away slightly.",
+    "Lift the compact glossy blue toycar, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Use one arm to place the toycar featuring black and white wheels in the basket with perforated sides.",
+    "Pick up the hand-sized rolling toycar, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Move the toycar with dark gray windows to the yellow basket, then shift the yellow basket.",
+    "Grab the hand-sized rolling toycar, drop in the yellow basket, and move the yellow basket.",
+    "Put the toycar with rounded edges in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Pick up the hand-sized rolling toycar and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Grab the toycar made of plastic material, drop it in the basket with black handle, shift the basket with black handle.",
+    "Use one arm to grab the toycar with rounded edges, place it in the handheld basket, then move the handheld basket.",
+    "Grab the toycar with dark gray windows, place it in the handheld basket, then move the handheld basket away.",
+    "Grab the toycar with black wheels with one arm, drop the toycar with black wheels in the basket with perforated sides.",
+    "Use one arm to place the toycar with rounded edges in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Take the toycar featuring black and white wheels, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick up the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Place the bright blue toycar with roof buttons in the handheld basket, then grab the handheld basket.",
+    "Grab the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the plastic toycar with smooth finish, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the toycar with black wheels, set it into the plastic basket.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use the right arm to pick the small plastic toycar, then use the left arm for the medium yellow basket with slots.",
+    "Place the blue toycar with yellow roof accents into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick the toycar with dark gray windows and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Pick the toycar with rounded edges, place it in the handheld basket.",
+    "Set the toycar featuring black and white wheels in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the toycar with black wheels and drop it in the bright yellow basket.",
+    "Use the right arm to grab the kids' toycar in bright blue, place it in the yellow basket, and move the yellow basket using the left arm.",
+    "Pick and move the toycar made of plastic material, then shift the yellow basket for carrying stuff.",
+    "Lift the small plastic toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Take the toycar with black wheels, put the toycar with black wheels into the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar with rounded edges, put it inside the yellow basket for carrying stuff.",
+    "Pick up the hand-sized rolling toycar and set it inside the bright yellow basket.",
+    "Put the bright blue toycar with roof buttons in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Lift the toycar made of plastic material, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Use one arm to place the bright blue toycar with roof buttons in the yellow basket for carrying stuff.",
+    "Pick up the plastic toycar with smooth finish, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick the bright blue toycar with roof buttons, drop the bright blue toycar with roof buttons in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Move the toycar with dark gray windows to the yellow basket, then shift the yellow basket.",
+    "Grab the toycar with dark gray windows, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Put the compact glossy blue toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar with rounded edges, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Grab the kids' toycar in bright blue, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the bright yellow basket.",
+    "Use one arm to place the hand-sized rolling toycar in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Take the toycar with dark gray windows, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Pick up the small plastic toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the toycar with dark gray windows in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Grab the toycar made of plastic material, drop it in the yellow basket, then move the yellow basket.",
+    "Pick the small plastic toycar, place it in the plastic basket, shift the plastic basket.",
+    "Grab the toycar featuring black and white wheels, set it into the rectangular basket with smooth surface.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use the right arm to pick the plastic toycar with smooth finish, then use the left arm for the medium yellow basket with slots.",
+    "Place the hand-sized rolling toycar into the yellow basket and push the yellow basket slightly away.",
+    "Pick the blue toycar with yellow roof accents and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface.",
+    "Set the compact glossy blue toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Grab the blue toycar with yellow roof accents and drop it in the rectangular basket with smooth surface.",
+    "Use the right arm to grab the kids' toycar in bright blue, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm."
+  ],
+  "unseen": [
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode14.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c9378c7c00306043b1f153cde22735086c2bca
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the miniature teal vehicle toy, drop it in the yellow basket, shift the yellow basket.",
+    "Use the right arm to grab the compact teal toycar, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick the small teal plastic car with windows, put it inside the medium yellow basket with slots.",
+    "Put the play car in teal and white in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Grab the toycar with white roof and teal body, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Grab the smooth teal car and drop it in the yellow basket.",
+    "Take the toycar with black tires, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick up the toycar with glossy finish and set it inside the basket with black handle.",
+    "Pick the compact teal toycar and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the smooth teal car, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the light teal toycar with white roof, place it in the carrying basket with black plastic handle.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Grab the smooth teal car, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Lift the toycar with glossy finish using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Set the miniature teal vehicle toy in the yellow basket, and shift the yellow basket away.",
+    "Use one arm to place the toycar with glossy finish in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Use one arm to place the small car toy in the medium yellow basket with slots.",
+    "Lift the smooth teal car, place it into the plastic basket, move the plastic basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the basket with black handle.",
+    "Move the rounded teal car toy to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Place the toycar with black tires in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the small car toy and drop it in the yellow basket, then move the yellow basket.",
+    "Take the small teal plastic car with windows, put the small teal plastic car with windows into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to grab the small teal plastic car with windows, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the rounded teal car toy, place it in the plastic basket, then move the plastic basket away.",
+    "Put the smooth teal car in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the toycar with black tires, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Place the mini car toy into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the yellow basket, slide the yellow basket lightly.",
+    "Grab the play car in teal and white, set it into the basket with perforated sides.",
+    "Pick up the small car toy, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the toycar with glossy finish with one arm, drop the toycar with glossy finish in the rectangular yellow basket.",
+    "Pick and move the miniature teal vehicle toy, then shift the rectangular basket with smooth surface.",
+    "Grab the mini car toy, drop it in the plastic basket, shift the plastic basket.",
+    "Use the right arm to grab the small teal plastic car with windows, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick the light teal toycar with white roof, put it inside the basket with arched black grip.",
+    "Put the small car toy in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Grab the miniature teal vehicle toy, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the compact teal toycar and drop it in the yellow basket for carrying stuff.",
+    "Take the small teal plastic car with windows, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick up the small teal plastic car with windows and set it inside the bright yellow basket.",
+    "Pick the compact teal toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Pick the smooth teal car, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the small car toy, place it in the plastic basket.",
+    "Pick up the mini car toy, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Grab the toycar with glossy finish, drop it in the plastic basket, then move the plastic basket.",
+    "Lift the play car in teal and white using the right arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the left arm.",
+    "Set the smooth teal car in the plastic basket, and shift the plastic basket away.",
+    "Use one arm to place the light teal toycar with white roof in the basket with black handle, adjust the basket with black handle.",
+    "Use one arm to place the light teal toycar with white roof in the rectangular yellow basket.",
+    "Lift the smooth teal car, place it into the yellow basket, move the yellow basket.",
+    "Use the right arm to pick the smooth teal car, then use the left arm for the basket with perforated sides.",
+    "Move the miniature teal vehicle toy to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Place the toycar with white roof and teal body in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the smooth teal car and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the smooth teal car, put the smooth teal car into the basket with arched black grip, shift the basket with arched black grip.",
+    "Use one arm to grab the smooth teal car, place it in the plastic basket, then move the plastic basket.",
+    "Grab the mini car toy, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Put the rounded teal car toy in the yellow basket and pull the yellow basket away.",
+    "Lift the play car in teal and white, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Place the play car in teal and white into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick the small teal plastic car with windows, drop the small teal plastic car with windows in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Grab the small car toy, set it into the yellow basket.",
+    "Pick up the toycar with white roof and teal body, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Grab the play car in teal and white with one arm, drop the play car in teal and white in the carrying basket with black plastic handle.",
+    "Pick and move the play car in teal and white, then shift the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Use the right arm to grab the compact teal toycar, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the left arm.",
+    "Pick the miniature teal vehicle toy, put it inside the plastic basket.",
+    "Put the play car in teal and white in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the play car in teal and white, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Grab the rounded teal car toy and drop it in the bright yellow basket.",
+    "Take the smooth teal car, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Pick up the play car in teal and white and set it inside the bright yellow basket.",
+    "Pick the rounded teal car toy and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick the miniature teal vehicle toy, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the toycar with white roof and teal body, place it in the basket with black handle.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Grab the miniature teal vehicle toy, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the miniature teal vehicle toy using the right arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the left arm.",
+    "Set the small teal plastic car with windows in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use one arm to place the toycar with glossy finish in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Use one arm to place the smooth teal car in the basket with black handle.",
+    "Lift the play car in teal and white, place it into the yellow basket, move the yellow basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the basket with perforated sides.",
+    "Move the light teal toycar with white roof to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Place the light teal toycar with white roof in the plastic basket, then grab the plastic basket.",
+    "Pick up the small car toy and drop it in the handheld basket, then move the handheld basket.",
+    "Take the toycar with glossy finish, put the toycar with glossy finish into the basket with black handle, shift the basket with black handle.",
+    "Use one arm to grab the light teal toycar with white roof, place it in the handheld basket, then move the handheld basket.",
+    "Grab the smooth teal car, place it in the plastic basket, then move the plastic basket away.",
+    "Put the toycar with black tires in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the light teal toycar with white roof, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Place the small teal plastic car with windows into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Pick the compact teal toycar, drop the compact teal toycar in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Grab the small car toy, set it into the handheld basket.",
+    "Pick up the smooth teal car, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the smooth teal car with one arm, drop the smooth teal car in the medium yellow basket with slots.",
+    "Pick and move the toycar with glossy finish, then shift the basket with arched black grip.",
+    "Grab the smooth teal car, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff."
+  ],
+  "unseen": [
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic teal car with wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode15.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2845a64d881ed0901abad647b6a9f09391fdfd
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth black cards container, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Place the palm-sized box for playing cards into the handheld basket and push the handheld basket slightly away.",
+    "Grab the cardboard playing cards box, drop in the handheld basket, and move the handheld basket.",
+    "Use one arm to place the box with cards inside in the plastic basket, adjust the plastic basket.",
+    "Pick and move the playing cards box with gold text, then shift the basket with perforated sides.",
+    "Use one arm to grab the palm-sized box for playing cards, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the cardboard playing cards box and set it inside the yellow basket.",
+    "Use one arm to place the smooth black cards container in the basket with black handle.",
+    "Grab the palm-sized box for playing cards and drop it in the yellow basket.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the basket with arched black grip.",
+    "Pick up the box with cards inside, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Put the rectangle-shaped cards box in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick the rectangular box for card storage, drop the rectangular box for card storage in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick the playing cards box with gold text, put it inside the basket with arched black grip.",
+    "Pick the rectangle-shaped cards box, place it in the basket with black handle.",
+    "Lift the rectangular box for card storage, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the box with cards inside, set it into the handheld basket.",
+    "Take the box holding playing cards, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the black box with rectangular shape, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the small black box with cards, place it in the plastic basket, then move the plastic basket away.",
+    "Put the playing cards box with gold text in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the yellow basket for carrying stuff.",
+    "Pick the cardboard playing cards box and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the cardboard playing cards box, place it in the basket with black handle, shift the basket with black handle.",
+    "Set the box holding playing cards in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Use the left arm to grab the smooth black cards container, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Place the black box with rectangular shape in the yellow basket, then grab the yellow basket.",
+    "Grab the smooth black cards container, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the compact box for playing cards, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Lift the black playing cards box using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Move the black box with rectangular shape to the yellow basket, then shift the yellow basket.",
+    "Take the smooth black cards container, put the smooth black cards container into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the palm-sized box for playing cards and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the box holding playing cards, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Place the rectangle-shaped cards box into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Grab the box with cards inside, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use one arm to place the rectangular box for card storage in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Pick and move the playing cards box with gold text, then shift the plastic basket.",
+    "Use one arm to grab the box holding playing cards, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the small black box with cards and set it inside the basket with perforated sides.",
+    "Use one arm to place the box holding playing cards in the bright yellow basket.",
+    "Grab the cardboard playing cards box and drop it in the yellow basket for carrying stuff.",
+    "Grab the palm-sized box for playing cards with one arm, drop the palm-sized box for playing cards in the basket with black handle.",
+    "Pick up the playing cards box with gold text, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Put the palm-sized box for playing cards in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick the palm-sized box for playing cards, drop the palm-sized box for playing cards in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Pick the playing cards box with gold text, put it inside the bright yellow basket.",
+    "Pick the rectangle-shaped cards box, place it in the basket with arched black grip.",
+    "Lift the rectangular box for card storage, place it into the bright yellow basket, move the bright yellow basket.",
+    "Grab the black box with rectangular shape, set it into the plastic basket.",
+    "Take the rectangle-shaped cards box, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the box with cards inside, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Put the rectangle-shaped cards box in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the yellow basket.",
+    "Pick the rectangular box for card storage and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick the smooth black cards container, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Set the black box with rectangular shape in the yellow basket, and shift the yellow basket away.",
+    "Use the left arm to grab the box with cards inside, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Place the black box with rectangular shape in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box holding playing cards, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the compact box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Lift the black box with rectangular shape using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Move the compact box for playing cards to the bright yellow basket, then shift the bright yellow basket.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the bright yellow basket, shift the bright yellow basket.",
+    "Pick up the black playing cards box and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the smooth black cards container, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Place the small black box with cards into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Grab the compact box for playing cards, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use one arm to place the smooth black cards container in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Pick and move the palm-sized box for playing cards, then shift the basket with arched black grip.",
+    "Use one arm to grab the box holding playing cards, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the cardboard playing cards box and set it inside the bright yellow basket.",
+    "Use one arm to place the compact box for playing cards in the basket with black handle.",
+    "Grab the playing cards box with gold text and drop it in the rectangular yellow basket.",
+    "Grab the rectangular box for card storage with one arm, drop the rectangular box for card storage in the handheld basket.",
+    "Pick up the rectangular box for card storage, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Put the box with cards inside in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the smooth black cards container, drop the smooth black cards container in the handheld basket, slide the handheld basket lightly.",
+    "Pick the black box with rectangular shape, put it inside the plastic basket.",
+    "Pick the compact box for playing cards, place it in the plastic basket.",
+    "Lift the compact box for playing cards, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the rectangle-shaped cards box, set it into the basket with black handle.",
+    "Take the box holding playing cards, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Grab the black box with rectangular shape, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Put the black playing cards box in the basket with black handle, then move the basket with black handle away slightly.",
+    "Use the left arm to pick the palm-sized box for playing cards, then use the right arm for the rectangular basket with smooth surface.",
+    "Pick the black box with rectangular shape and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick the compact box for playing cards, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Set the box with cards inside in the handheld basket, and shift the handheld basket away.",
+    "Use the left arm to grab the black playing cards box, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the smooth black cards container in the yellow basket, then grab the yellow basket.",
+    "Grab the smooth black cards container, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the box with cards inside, put it in the yellow basket, shift the yellow basket a little.",
+    "Lift the palm-sized box for playing cards using the left arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the right arm.",
+    "Move the black box with rectangular shape to the yellow basket, then shift the yellow basket.",
+    "Take the rectangular box for card storage, put the rectangular box for card storage into the basket with black handle, shift the basket with black handle.",
+    "Pick up the compact box for playing cards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Lift the box with cards inside, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip."
+  ],
+  "unseen": [
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode16.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b87ec3f7cfdbe1d66eb5304838b4c5534a58ee2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the toycar with dark gray windows in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Pick the toycar made of plastic material, put it inside the basket with black handle.",
+    "Move the kids' toycar in bright blue to the handheld basket, then shift the handheld basket.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the toycar featuring black and white wheels and drop it in the plastic basket, then move the plastic basket.",
+    "Lift the toycar made of plastic material, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Pick and move the toycar featuring black and white wheels, then shift the yellow basket for carrying stuff.",
+    "Use the right arm to grab the toycar with black wheels, place it in the basket with perforated sides, and move the basket with perforated sides using the left arm.",
+    "Pick up the hand-sized rolling toycar and set it inside the bright yellow basket.",
+    "Pick the toycar with dark gray windows, drop the toycar with dark gray windows in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the blue toycar with yellow roof accents, drop it in the yellow basket, shift the yellow basket.",
+    "Take the bright blue toycar with roof buttons, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Set the small plastic toycar in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Pick the bright blue toycar with roof buttons and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the bright blue toycar with roof buttons, drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar featuring black and white wheels with one arm, drop the toycar featuring black and white wheels in the rectangular basket with smooth surface.",
+    "Pick the toycar with rounded edges, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the toycar with dark gray windows, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket with black handle.",
+    "Grab the toycar with rounded edges, set it into the bright yellow basket.",
+    "Use one arm to place the toycar with black wheels in the handheld basket, adjust the handheld basket.",
+    "Grab the hand-sized rolling toycar, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Place the bright blue toycar with roof buttons into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Lift the toycar with black wheels, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Put the toycar with black wheels in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Use the right arm to pick the toycar made of plastic material, then use the left arm for the basket with black handle.",
+    "Pick up the compact glossy blue toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Lift the compact glossy blue toycar using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Grab the blue toycar with yellow roof accents and drop it in the bright yellow basket.",
+    "Pick up the toycar made of plastic material, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Place the blue toycar with yellow roof accents in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick the toycar featuring black and white wheels, place it in the basket with perforated sides.",
+    "Take the toycar with dark gray windows, put the toycar with dark gray windows into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Put the hand-sized rolling toycar in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Pick the toycar with dark gray windows, put it inside the rectangular yellow basket.",
+    "Move the blue toycar with yellow roof accents to the plastic basket, then shift the plastic basket.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the hand-sized rolling toycar and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Lift the toycar made of plastic material, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick and move the toycar with dark gray windows, then shift the basket with perforated sides.",
+    "Use the right arm to grab the small plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick up the small plastic toycar and set it inside the basket with black handle.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the handheld basket, slide the handheld basket lightly.",
+    "Grab the toycar with rounded edges, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Take the toycar with dark gray windows, set it in the plastic basket, shift the plastic basket lightly.",
+    "Set the kids' toycar in bright blue in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick the compact glossy blue toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Grab the toycar with dark gray windows, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the toycar with black wheels with one arm, drop the toycar with black wheels in the medium yellow basket with slots.",
+    "Pick the toycar made of plastic material, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the small plastic toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Use one arm to place the plastic toycar with smooth finish in the rectangular basket with smooth surface.",
+    "Grab the toycar with black wheels, set it into the bright yellow basket.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Grab the compact glossy blue toycar, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Place the hand-sized rolling toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Lift the kids' toycar in bright blue, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Put the compact glossy blue toycar in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Use the right arm to pick the blue toycar with yellow roof accents, then use the left arm for the basket with black handle.",
+    "Pick up the compact glossy blue toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Grab the compact glossy blue toycar and drop it in the plastic basket.",
+    "Pick up the compact glossy blue toycar, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Place the plastic toycar with smooth finish in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick the toycar made of plastic material, place it in the plastic basket.",
+    "Take the small plastic toycar, put the small plastic toycar into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the toycar made of plastic material in the yellow basket, then move the yellow basket away slightly.",
+    "Pick the toycar made of plastic material, put it inside the carrying basket with black plastic handle.",
+    "Move the blue toycar with yellow roof accents to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the kids' toycar in bright blue and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the toycar with dark gray windows, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick and move the toycar with black wheels, then shift the rectangular basket with smooth surface.",
+    "Use the right arm to grab the toycar made of plastic material, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick up the hand-sized rolling toycar and set it inside the medium yellow basket with slots.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the blue toycar with yellow roof accents, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Take the bright blue toycar with roof buttons, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Set the plastic toycar with smooth finish in the yellow basket, and shift the yellow basket away.",
+    "Pick the compact glossy blue toycar and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Grab the toycar featuring black and white wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the bright yellow basket.",
+    "Pick the plastic toycar with smooth finish, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the hand-sized rolling toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Use one arm to place the bright blue toycar with roof buttons in the rectangular basket with smooth surface.",
+    "Grab the blue toycar with yellow roof accents, set it into the medium yellow basket with slots.",
+    "Use one arm to place the compact glossy blue toycar in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Grab the toycar featuring black and white wheels, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Place the hand-sized rolling toycar into the handheld basket and push the handheld basket slightly away.",
+    "Lift the plastic toycar with smooth finish, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Put the bright blue toycar with roof buttons in the bright yellow basket and pull the bright yellow basket away.",
+    "Use the right arm to pick the bright blue toycar with roof buttons, then use the left arm for the basket with perforated sides.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket, grab the yellow basket.",
+    "Lift the blue toycar with yellow roof accents using the right arm, drop it in the handheld basket, then push the handheld basket via the left arm.",
+    "Grab the hand-sized rolling toycar and drop it in the yellow basket.",
+    "Pick up the toycar with black wheels, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Place the toycar with black wheels in the plastic basket, then grab the plastic basket.",
+    "Pick the toycar with black wheels, place it in the basket with perforated sides.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the basket with arched black grip, shift the basket with arched black grip.",
+    "Put the kids' toycar in bright blue in the yellow basket, then move the yellow basket away slightly."
+  ],
+  "unseen": [
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode17.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8b79116842a61468a94830b2ff638805dc4959
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the palm-sized playingcards carton in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the blue pack holding playingcards and set it inside the brown basket.",
+    "Use one arm to grab the card box with golden designs, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the palm-sized playingcards carton using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Grab the palm-sized playingcards carton and drop it in the brown basket.",
+    "Grab the blue playingcards box, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Use one arm to place the small playingcards container in the oval-shaped basket with woven body.",
+    "Lift the blue carton for playingcards, place it into the woven basket, move the woven basket.",
+    "Use the right arm to pick the card box with golden designs, then use the left arm for the basket for holding items.",
+    "Pick the playingcards box with white symbols, put it inside the woven basket.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick the blue carton for playingcards, place it in the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the rectangular blue playingcards case, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick the blue pack holding playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick and move the palm-sized playingcards carton, 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.",
+    "Take the card box with golden designs, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick up the card box with golden designs, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Place the palm-sized playingcards carton into the basket for holding items and push the basket for holding items slightly away.",
+    "Lift the playingcards pack with blue top, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Place the rectangular blue playingcards case in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket with handle, slide the basket with handle lightly.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "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.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the oval-shaped basket with woven body.",
+    "Pick up the blue playingcards box, place it in the basket for holding items, grab the basket for holding items.",
+    "Take the box of playingcards, put the box of playingcards into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Put the small playingcards container in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Grab the smooth playingcards holder, set it into the brown basket.",
+    "Use the right arm to grab the small playingcards container, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left 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 up the blue and white playingcards packaging and set it inside the brown basket with woven ridges.",
+    "Use one arm to grab the box of playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the blue playingcards box using the right arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the left arm.",
+    "Grab the palm-sized playingcards carton and drop it in the woven basket.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the playingcards pack with blue top in the light brown oval basket and pull the light brown oval basket away.",
+    "Use one arm to place the smooth playingcards holder in the oval-shaped basket with woven body.",
+    "Lift the blue carton for playingcards, place it into the basket for holding items, move the basket for holding items.",
+    "Use the right arm to pick the smooth playingcards holder, then use the left arm for the basket with handle.",
+    "Pick the blue and white playingcards packaging, put it inside the light brown oval basket.",
+    "Use one arm to place the blue playingcards box in the brown basket, adjust the brown basket.",
+    "Pick the smooth playingcards holder, place it in the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the blue playingcards box, place it in the brown basket, shift the brown basket.",
+    "Grab the palm-sized playingcards carton, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the card box with golden designs and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick and move the blue pack holding playingcards, then shift the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards holder and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the palm-sized playingcards carton, put it in the woven basket, shift the woven basket a little.",
+    "Place the small playingcards container into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Lift the playingcards box with white symbols, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Place the smooth playingcards holder in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the small playingcards container, drop the small playingcards container in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Move the blue pack holding playingcards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton, drop it in the brown basket, then move the brown basket.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket for carrying things.",
+    "Pick up the blue carton for playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Take the small playingcards container, put the small playingcards container into the brown basket, shift the brown basket.",
+    "Put the palm-sized playingcards carton in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the blue playingcards box, set it into the brown basket with woven ridges.",
+    "Use the right arm to grab the blue playingcards box, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "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 and set it inside the basket with loop handle.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket, then move the brown basket.",
+    "Lift the blue playingcards box using the right arm, drop it in the basket with handle, then push the basket with handle via the left arm.",
+    "Grab the rectangular blue playingcards case and drop it in 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.",
+    "Put the rectangular blue playingcards case in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Use one arm to place the palm-sized playingcards carton in the basket made of woven wood.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Use the right arm to pick the blue and white playingcards packaging, then use the left arm for the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, put it inside the basket with handle.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the blue carton for playingcards, place it in the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the playingcards pack with blue top, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the blue playingcards box and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick and move the card box with golden designs, then shift the basket with 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.",
+    "Take the small playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Place the card box with golden designs into the woven basket and push the woven basket slightly away.",
+    "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 palm-sized playingcards carton in the basket with loop handle, then grab the basket with loop handle.",
+    "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.",
+    "Move the box of playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket made of woven wood.",
+    "Pick up the box of playingcards, place it in the basket for holding items, grab the basket for holding items.",
+    "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 blue playingcards box in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the rectangular blue playingcards case, set it into the light brown oval basket.",
+    "Use the right arm to grab the playingcards pack with blue top, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Set the smooth playingcards holder in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away."
+  ],
+  "unseen": [
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "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 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.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards 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.",
+    "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.",
+    "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.",
+    "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.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "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 in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards 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 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 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 case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the 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 basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "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 oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the 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 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.",
+    "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.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, 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.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, 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.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the 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.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "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.",
+    "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 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 in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards pack to the 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.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Move the small packet of playingcards to the 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."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode18.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..51aabdc3532b986380a23982ddfaa2a94814f765
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the green toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Place the toycar with black wheels into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Lift the smooth green toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the tiny green toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the toycar with black wheels, place it in the carrying basket with black plastic handle.",
+    "Pick and move the green toycar, then shift the basket with perforated sides.",
+    "Pick up the playful green toycar, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the green car-shaped toycar and set it inside the basket with perforated sides.",
+    "Put the green toycar in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Use one arm to grab the smooth green toycar, place it in the plastic basket, then move the plastic basket.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the rectangular basket with smooth surface.",
+    "Grab the green toycar and drop it in the medium yellow basket with slots.",
+    "Pick the shiny green toycar, drop the shiny green toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Place the green toycar in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the green toycar made from plastic and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the small green toycar, set it into the rectangular basket with smooth surface.",
+    "Pick the green toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the small plastic green toycar, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the tiny green toycar using the right arm, drop it in the bright yellow basket, then push the bright yellow basket via the left arm.",
+    "Take the small green toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the playful green toycar, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Put the tiny green toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Use one arm to place the small green toycar in the yellow basket.",
+    "Set the small green toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick up the tiny green toycar, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the right arm to pick the green toycar made from plastic, then use the left arm for the basket with black handle.",
+    "Move the green car-shaped toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the toycar with black roof and wheels, put it inside the basket with perforated sides.",
+    "Take the playful green toycar, put the playful green toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Grab the green toycar, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the green car-shaped toycar in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick the green car-shaped toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the tiny green toycar, drop it in the handheld basket, then move the handheld basket.",
+    "Use the right arm to grab the shiny green toycar, place it in the plastic basket, and move the plastic basket using the left arm.",
+    "Place the miniature bright green toycar into the yellow basket and push the yellow basket slightly away.",
+    "Lift the tiny green toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Lift the shiny green toycar, place it into the handheld basket, move the handheld basket.",
+    "Pick the green car-shaped toycar, place it in the plastic basket.",
+    "Pick and move the toycar with black roof and wheels, then shift the plastic basket.",
+    "Pick up the green toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick up the green toycar made from plastic and set it inside the basket with arched black grip.",
+    "Put the tiny green toycar in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Use one arm to grab the small green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the green toycar made from plastic with one arm, drop the green toycar made from plastic in the basket with perforated sides.",
+    "Grab the toycar with black roof and wheels and drop it in the bright yellow basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the handheld basket, slide the handheld basket lightly.",
+    "Place the smooth green toycar in the handheld basket, then grab the handheld basket.",
+    "Pick up the smooth green toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the miniature bright green toycar, set it into the rectangular yellow basket.",
+    "Pick the toycar with black roof and wheels and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Grab the shiny green toycar, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the small green toycar using the right arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the left arm.",
+    "Take the playful green toycar, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the toycar with black wheels, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Put the green toycar in the basket with black handle and pull the basket with black handle away.",
+    "Use one arm to place the green toycar made from plastic in the rectangular basket with smooth surface.",
+    "Set the green car-shaped toycar in the yellow basket, and shift the yellow basket away.",
+    "Pick up the shiny green toycar, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Use the right arm to pick the green toycar made from plastic, then use the left arm for the basket with arched black grip.",
+    "Move the miniature bright green toycar to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black roof and wheels, put it inside the basket with black handle.",
+    "Take the small plastic green toycar, put the small plastic green toycar into the basket with black handle, shift the basket with black handle.",
+    "Grab the small green toycar, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the toycar with black wheels in the bright yellow basket, adjust the bright yellow basket.",
+    "Pick the shiny green toycar, place it in the plastic basket, shift the plastic basket.",
+    "Grab the small green toycar, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Use the right arm to grab the small green toycar, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the left arm.",
+    "Place the small green toycar into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Lift the miniature bright green toycar, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Lift the green car-shaped toycar, place it into the basket with black handle, move the basket with black handle.",
+    "Pick the green toycar, place it in the bright yellow basket.",
+    "Pick and move the toycar with black roof and wheels, then shift the bright yellow basket.",
+    "Pick up the smooth green toycar, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick up the toycar with black wheels and set it inside the plastic basket.",
+    "Put the playful green toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Use one arm to grab the toycar with black roof and wheels, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the tiny green toycar with one arm, drop the tiny green toycar in the plastic basket.",
+    "Grab the green toycar made from plastic and drop it in the medium yellow basket with slots.",
+    "Pick the green toycar, drop the green toycar in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Place the shiny green toycar in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick up the shiny green toycar and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the smooth green toycar, set it into the basket with black handle.",
+    "Pick the toycar with black wheels and position it in the handheld basket, move the handheld basket slightly.",
+    "Grab the tiny green toycar, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Lift the small plastic green toycar using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Take the tiny green toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Grab the smooth green toycar, place it in the yellow basket, then move the yellow basket away.",
+    "Put the tiny green toycar in the yellow basket and pull the yellow basket away.",
+    "Use one arm to place the small green toycar in the carrying basket with black plastic handle.",
+    "Set the green car-shaped toycar in the yellow basket, and shift the yellow basket away.",
+    "Pick up the green toycar made from plastic, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the right arm to pick the shiny green toycar, then use the left arm for the carrying basket with black plastic handle.",
+    "Move the green toycar made from plastic to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the toycar with black roof and wheels, put it inside the carrying basket with black plastic handle.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the plastic basket, shift the plastic basket.",
+    "Grab the shiny green toycar, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the toycar with black wheels in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the toycar with black wheels, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the green car-shaped toycar, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the right arm to grab the shiny green toycar, place it in the plastic basket, and move the plastic basket using the left arm."
+  ],
+  "unseen": [
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the bright green toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow basket with open slots.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the bright green toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with rounded edges to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow basket with open slots.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode19.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8335611da194b28011a9e1ff900183862425a7a
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic toycar with one arm, drop the plastic toycar in the basket with arched black grip.",
+    "Grab the toycar with black and orange wheels, set it into the basket with perforated sides.",
+    "Grab the small toycar and drop it in the basket with black handle.",
+    "Pick the palm-sized plastic toycar, put it inside the basket with arched black grip.",
+    "Pick the glossy blue toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick and move the toycar with smiling face design, then shift the medium yellow basket with slots.",
+    "Lift the palm-sized plastic toycar, place it into the plastic basket, move the plastic basket.",
+    "Put the palm-sized plastic toycar in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the small toycar using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Grab the blue toycar with white windows, drop it in the basket with black handle, then move the basket with black handle.",
+    "Take the plastic toycar, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Use the right arm to grab the toycar with black and orange wheels, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick up the toycar with rounded edges, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Pick up the plastic toycar, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the lightweight toycar, drop in the plastic basket, and move the plastic basket.",
+    "Use the right arm to pick the blue toycar with white windows, then use the left arm for the rectangular basket with smooth surface.",
+    "Take the plastic toycar, put the plastic toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Place the toycar for kids in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Use one arm to place the glossy blue toycar in the basket with black handle, adjust the basket with black handle.",
+    "Place the lightweight toycar into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Lift the toycar with smiling face design, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Set the plastic toycar in the plastic basket, and shift the plastic basket away.",
+    "Put the toycar with rounded edges in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Use one arm to place the palm-sized plastic toycar in the plastic basket.",
+    "Grab the toycar for kids, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the toycar with smiling face design and set it inside the medium yellow basket with slots.",
+    "Pick the blue toycar with white windows, place it in the basket with arched black grip.",
+    "Grab the glossy blue toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the glossy blue toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the blue toycar with white windows and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Use one arm to grab the small blue car-shaped toycar, place it in the yellow basket, then move the yellow basket.",
+    "Move the glossy blue toycar to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the bright yellow basket.",
+    "Grab the toycar with smiling face design, set it into the yellow basket.",
+    "Grab the blue toycar with white windows and drop it in the rectangular yellow basket.",
+    "Pick the small toycar, put it inside the yellow basket for carrying stuff.",
+    "Pick the small blue car-shaped toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick and move the small blue car-shaped toycar, then shift the basket with arched black grip.",
+    "Lift the glossy blue toycar, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Put the lightweight toycar in the yellow basket and pull the yellow basket away.",
+    "Lift the toycar with black and orange wheels using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Grab the plastic toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Take the toycar with smiling face design, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Use the right arm to grab the toycar with rounded edges, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick up the toycar with rounded edges, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the toycar with smiling face design, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the toycar for kids, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use the right arm to pick the palm-sized plastic toycar, then use the left arm for the basket with perforated sides.",
+    "Take the plastic toycar, put the plastic toycar into the plastic basket, shift the plastic basket.",
+    "Place the plastic toycar in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to place the toycar for kids in the yellow basket, adjust the yellow basket.",
+    "Place the blue toycar with white windows into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Lift the toycar for kids, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Set the toycar for kids in the handheld basket, and shift the handheld basket away.",
+    "Put the blue toycar with white windows in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Use one arm to place the toycar for kids in the rectangular yellow basket.",
+    "Grab the glossy blue toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the palm-sized plastic toycar and set it inside the rectangular yellow basket.",
+    "Pick the plastic toycar, place it in the handheld basket.",
+    "Grab the toycar with black and orange wheels, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick up the toycar for kids and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the blue toycar with white windows and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Use one arm to grab the blue toycar with white windows, place it in the plastic basket, then move the plastic basket.",
+    "Move the small blue car-shaped toycar to the basket with black handle, then shift the basket with black handle.",
+    "Grab the toycar with rounded edges with one arm, drop the toycar with rounded edges in the basket with black handle.",
+    "Grab the toycar for kids, set it into the handheld basket.",
+    "Grab the toycar with rounded edges and drop it in the bright yellow basket.",
+    "Pick the plastic toycar, put it inside the basket with perforated sides.",
+    "Pick the glossy blue toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick and move the bright blue toycar, then shift the handheld basket.",
+    "Lift the bright blue toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Put the toycar with smiling face design in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the palm-sized plastic toycar using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Grab the toycar for kids, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the lightweight toycar, set it in the yellow basket, shift the yellow basket lightly.",
+    "Use the right arm to grab the toycar with black and orange wheels, place it in the handheld basket, and move the handheld basket using the left arm.",
+    "Pick up the blue toycar with white windows, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick up the toycar for kids, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the lightweight toycar, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use the right arm to pick the glossy blue toycar, then use the left arm for the plastic basket.",
+    "Take the toycar with black and orange wheels, put the toycar with black and orange wheels into the yellow basket, shift the yellow basket.",
+    "Place the bright blue toycar in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar with rounded edges in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Place the bright blue toycar into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Pick the toycar for kids, drop the toycar for kids in the handheld basket, slide the handheld basket lightly.",
+    "Lift the toycar with black and orange wheels, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Set the small toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Put the toycar with smiling face design in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Use one arm to place the plastic toycar in the bright yellow basket.",
+    "Grab the lightweight toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Pick up the glossy blue toycar and set it inside the yellow basket for carrying stuff.",
+    "Pick the toycar with smiling face design, place it in the bright yellow basket.",
+    "Grab the toycar with rounded edges, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick up the glossy blue toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the lightweight toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Use one arm to grab the blue toycar with white windows, place it in the yellow basket, then move the yellow basket.",
+    "Move the small blue car-shaped toycar to the handheld basket, then shift the handheld basket.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the rectangular yellow basket."
+  ],
+  "unseen": [
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode2.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..15764f6972c8a062730fdab1a72f898dd2ac76bd
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the green toycar made from plastic to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use one arm to place the small plastic green toycar in the basket for carrying things.",
+    "Grab the tiny green toycar, place it in the woven basket, then move the woven basket away.",
+    "Pick the small plastic green toycar, place it in the light brown oval basket.",
+    "Pick the playful green toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the playful green toycar in the basket with loop handle, then grab the basket with loop handle.",
+    "Use the left arm to grab the playful green toycar, place it in the brown basket, and move the brown basket using the right arm.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the wooden basket with curved handle.",
+    "Lift the green toycar made from plastic, place it into the basket for holding items, move the basket for holding items.",
+    "Place the playful green toycar into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Take the small green toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the miniature bright green toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the green toycar and drop it in the basket with loop handle.",
+    "Pick and move the smooth green toycar, then shift the brown basket with woven ridges.",
+    "Lift the small plastic green toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick up the playful green toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use the left arm to pick the small green toycar, then use the right arm for the woven basket.",
+    "Grab the playful green toycar, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick up the playful green toycar, place it in the woven basket, grab the woven basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the brown basket, slide the brown basket lightly.",
+    "Grab the shiny green toycar, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the shiny green toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to grab the miniature bright green toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the toycar with black wheels and set it inside the light brown oval basket.",
+    "Lift the miniature bright green toycar 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 one arm to place the small plastic green toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the green toycar made from plastic, put it inside the smooth ribbed light brown basket.",
+    "Put the small green toycar in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Put the playful green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the small green toycar, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the small plastic green toycar, set it into the light brown oval basket.",
+    "Set the playful green toycar in the woven basket, and shift the woven basket away.",
+    "Move the green car-shaped toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use one arm to place the small plastic green toycar in the brown basket with woven ridges.",
+    "Grab the green car-shaped toycar, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick the playful green toycar, place it in the basket for holding items.",
+    "Pick the green car-shaped toycar and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Place the small green toycar in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Use the left arm to grab the green car-shaped toycar, 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 toycar with black wheels with one arm, drop the toycar with black wheels in the basket for carrying things.",
+    "Lift the miniature bright green toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Place the small plastic green toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Take the smooth green toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the miniature bright green toycar and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the smooth green toycar and drop it in the basket made of woven wood.",
+    "Pick and move the toycar with black roof and wheels, then shift the basket for carrying things.",
+    "Lift the small green toycar, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick up the miniature bright green toycar, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Use the left arm to pick the playful green toycar, then use the right arm for the woven basket.",
+    "Grab the miniature bright green toycar, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick up the small green toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the small plastic green toycar, drop the small plastic green toycar in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the smooth green toycar, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick the miniature bright green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the toycar with black roof and wheels, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the green toycar and set it inside the basket made of woven wood.",
+    "Lift the green toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use one arm to place the smooth green toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the green toycar made from plastic, put it inside the light brown oval basket.",
+    "Put the miniature bright green toycar in the basket for holding items, then move the basket for holding items away slightly.",
+    "Put the green car-shaped toycar in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the green toycar, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Take the tiny green toycar, put the tiny green toycar into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the toycar with black wheels, set it into the brown basket with woven ridges.",
+    "Set the green toycar made from plastic in the basket with handle, and shift the basket with handle away.",
+    "Move the smooth green toycar to the basket with handle, then shift the basket with handle.",
+    "Use one arm to place the toycar with black wheels in the wooden basket with curved handle.",
+    "Grab the tiny green toycar, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick the toycar with black roof and wheels, place it in the basket with handle.",
+    "Pick the smooth green toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Place the green toycar made from plastic in the brown basket, then grab the brown basket.",
+    "Use the left arm to grab the toycar with black wheels, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the green toycar with one arm, drop the green toycar in the basket for holding items.",
+    "Lift the tiny green toycar, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Place the green toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Take the smooth green toycar, set it in the basket with handle, shift the basket with handle lightly.",
+    "Pick up the toycar with black roof and wheels and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the playful green toycar and drop it in the woven basket.",
+    "Pick and move the green toycar made from plastic, then shift the basket made of woven wood.",
+    "Lift the toycar with black roof and wheels, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the small plastic green toycar, put it in the woven basket, shift the woven basket a little.",
+    "Use the left arm to pick the shiny green toycar, then use the right arm for the basket for carrying things.",
+    "Grab the green car-shaped toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick up the toycar with black wheels, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic, drop the green toycar made from plastic in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the small green toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the shiny green toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to grab the small plastic green toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the green toycar made from plastic and set it inside the woven basket.",
+    "Lift the toycar with black wheels 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 place the small green toycar in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick the tiny green toycar, put it inside the wooden basket with curved handle.",
+    "Put the small plastic green toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the toycar with black roof and wheels, drop it in the woven basket, shift the woven basket.",
+    "Take the toycar with black roof and wheels, put the toycar with black roof and wheels into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the tiny green toycar, set it into the basket with loop handle.",
+    "Set the smooth green toycar in the basket for carrying things, and shift the basket for carrying things away.",
+    "Move the tiny green toycar to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the plastic toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Pick up the plastic toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the bright green toycar and drop in the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the oval basket with medium storage space and move it.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode20.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf92e9680565dd439c8f7472cb87fdb4871c32ce
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the toycar with glossy finish using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Pick and move the toycar with glossy finish, then shift the basket with black handle.",
+    "Pick up the smooth teal car, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the mini car toy, drop the mini car toy in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the toycar with glossy finish, put the toycar with glossy finish into the plastic basket, shift the plastic basket.",
+    "Set the small teal plastic car with windows in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick up the smooth teal car, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular yellow basket.",
+    "Place the miniature teal vehicle toy into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Place the toycar with white roof and teal body in the handheld basket, then grab the handheld basket.",
+    "Pick the miniature teal vehicle toy, put it inside the bright yellow basket.",
+    "Grab the mini car toy, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the mini car toy in the plastic basket, adjust the plastic basket.",
+    "Put the toycar with glossy finish in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the light teal toycar with white roof, set it into the rectangular yellow basket.",
+    "Pick up the compact teal toycar and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the compact teal toycar, place it in the basket with perforated sides.",
+    "Lift the light teal toycar with white roof, place it into the handheld basket, move the handheld basket.",
+    "Put the play car in teal and white in the handheld basket and pull the handheld basket away.",
+    "Move the light teal toycar with white roof to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Grab the mini car toy, drop it in the yellow basket, then move the yellow basket.",
+    "Use the left arm to grab the light teal toycar with white roof, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Pick up the small teal plastic car with windows and set it inside the plastic basket.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the rectangular basket with smooth surface.",
+    "Use one arm to grab the smooth teal car, place it in the handheld basket, then move the handheld basket.",
+    "Use one arm to place the small teal plastic car with windows in the yellow basket for carrying stuff.",
+    "Take the toycar with white roof and teal body, set it in the handheld basket, shift the handheld basket lightly.",
+    "Lift the small teal plastic car with windows, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Pick the light teal toycar with white roof and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the play car in teal and white, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body and drop it in the bright yellow basket.",
+    "Pick the mini car toy, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the rounded teal car toy, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Lift the compact teal toycar using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Pick and move the small teal plastic car with windows, then shift the yellow basket for carrying stuff.",
+    "Pick up the smooth teal car, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Pick the rounded teal car toy, drop the rounded teal car toy in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the compact teal toycar, put the compact teal toycar into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Set the rounded teal car toy in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick up the small car toy, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the compact teal toycar with one arm, drop the compact teal toycar in the basket with arched black grip.",
+    "Place the light teal toycar with white roof into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Place the miniature teal vehicle toy in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick the toycar with black tires, put it inside the yellow basket.",
+    "Grab the toycar with white roof and teal body, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Use one arm to place the compact teal toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Put the miniature teal vehicle toy in the handheld basket, then move the handheld basket away slightly.",
+    "Grab the toycar with glossy finish, set it into the carrying basket with black plastic handle.",
+    "Pick up the light teal toycar with white roof and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the miniature teal vehicle toy, place it in the basket with perforated sides.",
+    "Lift the rounded teal car toy, place it into the yellow basket for carrying stuff, move the yellow basket for carrying stuff.",
+    "Put the toycar with white roof and teal body in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Move the compact teal toycar to the handheld basket, then shift the handheld basket.",
+    "Grab the small teal plastic car with windows, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to grab the small car toy, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Pick up the rounded teal car toy and set it inside the basket with arched black grip.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the basket with arched black grip.",
+    "Use one arm to grab the smooth teal car, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use one arm to place the smooth teal car in the rectangular basket with smooth surface.",
+    "Take the toycar with white roof and teal body, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Lift the play car in teal and white, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Pick the compact teal toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Grab the light teal toycar with white roof, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Grab the smooth teal car and drop it in the medium yellow basket with slots.",
+    "Pick the small teal plastic car with windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the mini car toy, place it in the basket with black handle, then move the basket with black handle away.",
+    "Lift the play car in teal and white using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Pick and move the small teal plastic car with windows, then shift the rectangular basket with smooth surface.",
+    "Pick up the smooth teal car, place it in the yellow basket, grab the yellow basket.",
+    "Pick the toycar with glossy finish, drop the toycar with glossy finish in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the mini car toy, put the mini car toy into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Set the light teal toycar with white roof in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick up the compact teal toycar, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the rounded teal car toy with one arm, drop the rounded teal car toy in the medium yellow basket with slots.",
+    "Place the play car in teal and white into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Place the toycar with glossy finish in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick the miniature teal vehicle toy, put it inside the rectangular yellow basket.",
+    "Grab the toycar with black tires, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to place the small car toy in the basket with black handle, adjust the basket with black handle.",
+    "Put the toycar with white roof and teal body in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the mini car toy, set it into the medium yellow basket with slots.",
+    "Pick up the mini car toy and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the light teal toycar with white roof, place it in the rectangular yellow basket.",
+    "Lift the toycar with black tires, place it into the yellow basket, move the yellow basket.",
+    "Put the smooth teal car in the handheld basket and pull the handheld basket away.",
+    "Move the small car toy to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle.",
+    "Grab the toycar with glossy finish, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to grab the mini car toy, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Pick up the play car in teal and white and set it inside the handheld basket.",
+    "Use the left arm to pick the play car in teal and white, then use the right arm for the plastic basket.",
+    "Use one arm to grab the play car in teal and white, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use one arm to place the compact teal toycar in the medium yellow basket with slots.",
+    "Take the smooth teal car, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Lift the small teal plastic car with windows, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the miniature teal vehicle toy and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the miniature teal vehicle toy, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the toycar with white roof and teal body and drop it in the bright yellow basket.",
+    "Pick the toycar with black tires, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Grab the smooth teal car, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Lift the compact teal toycar using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm."
+  ],
+  "unseen": [
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode21.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc2acda7af67d11a64c2edab25592068d0df801
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the box with cards inside in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the rectangular box for card storage, set it into the carrying basket with black plastic handle.",
+    "Move the small black box with cards to the plastic basket, then shift the plastic basket.",
+    "Place the small black box with cards in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Pick up the rectangular box for card storage and set it inside the basket with perforated sides.",
+    "Pick the black box with rectangular shape and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the small black box with cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Take the black playing cards box, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Use the left arm to pick the box with cards inside, then use the right arm for the basket with arched black grip.",
+    "Grab the box with cards inside, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Grab the cardboard playing cards box, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Lift the black box with rectangular shape, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the compact box for playing cards with one arm, drop the compact box for playing cards in the medium yellow basket with slots.",
+    "Use one arm to place the black box with rectangular shape in the plastic basket, adjust the plastic basket.",
+    "Pick up the playing cards box with gold text, place it in the yellow basket, grab the yellow basket.",
+    "Pick the box holding playing cards, put it inside the medium yellow basket with slots.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the handheld basket, shift the handheld basket.",
+    "Use one arm to place the smooth black cards container in the bright yellow basket.",
+    "Grab the rectangle-shaped cards box, drop in the basket with black handle, and move the basket with black handle.",
+    "Lift the rectangular box for card storage using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Lift the box holding playing cards, place it into the handheld basket, move the handheld basket.",
+    "Place the smooth black cards container into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the palm-sized box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Pick the compact box for playing cards, place it in the basket with arched black grip.",
+    "Put the box holding playing cards in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Set the compact box for playing cards in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the box holding playing cards, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Use one arm to grab the black playing cards box, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the playing cards box with gold text and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the rectangular box for card storage, drop the rectangular box for card storage in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the black box with rectangular shape and drop it in the plastic basket.",
+    "Use the left arm to grab the black box with rectangular shape, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Pick and move the palm-sized box for playing cards, then shift the yellow basket for carrying stuff.",
+    "Put the smooth black cards container in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the box holding playing cards, set it into the bright yellow basket.",
+    "Move the playing cards box with gold text to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Place the playing cards box with gold text in the plastic basket, then grab the plastic basket.",
+    "Pick up the compact box for playing cards and set it inside the handheld basket.",
+    "Pick the black box with rectangular shape and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick the compact box for playing cards, place it in the yellow basket, shift the yellow basket.",
+    "Take the palm-sized box for playing cards, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the handheld basket.",
+    "Grab the compact box for playing cards, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the cardboard playing cards box, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Lift the smooth black cards container, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the basket with perforated sides.",
+    "Use one arm to place the compact box for playing cards in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick up the black box with rectangular shape, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the box holding playing cards, put it inside the medium yellow basket with slots.",
+    "Take the box holding playing cards, put the box holding playing cards into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to place the smooth black cards container in the basket with arched black grip.",
+    "Grab the cardboard playing cards box, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Lift the cardboard playing cards box using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Lift the palm-sized box for playing cards, place it into the bright yellow basket, move the bright yellow basket.",
+    "Place the small black box with cards into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick up the palm-sized box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Pick the palm-sized box for playing cards, place it in the basket with black handle.",
+    "Put the small black box with cards in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Set the black playing cards box in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Grab the box holding playing cards, place it in the handheld basket, then move the handheld basket away.",
+    "Use one arm to grab the rectangle-shaped cards box, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the palm-sized box for playing cards and drop it in the handheld basket, then move the handheld basket.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Grab the small black box with cards and drop it in the basket with arched black grip.",
+    "Use the left arm to grab the smooth black cards container, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Pick and move the cardboard playing cards box, then shift the medium yellow basket with slots.",
+    "Put the box holding playing cards in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the rectangular box for card storage, set it into the plastic basket.",
+    "Move the playing cards box with gold text to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle.",
+    "Place the playing cards box with gold text in the plastic basket, then grab the plastic basket.",
+    "Pick up the palm-sized box for playing cards and set it inside the handheld basket.",
+    "Pick the compact box for playing cards and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the compact box for playing cards, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Take the box holding playing cards, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Use the left arm to pick the small black box with cards, then use the right arm for the handheld basket.",
+    "Grab the small black box with cards, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the palm-sized box for playing cards, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the smooth black cards container, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the basket with perforated sides.",
+    "Use one arm to place the cardboard playing cards box in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Pick up the small black box with cards, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Pick the small black box with cards, put it inside the carrying basket with black plastic handle.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Use one arm to place the black box with rectangular shape in the basket with black handle.",
+    "Grab the cardboard playing cards box, drop in the yellow basket, and move the yellow basket.",
+    "Lift the black box with rectangular shape using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Lift the smooth black cards container, place it into the plastic basket, move the plastic basket.",
+    "Place the box with cards inside into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the smooth black cards container, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick the black box with rectangular shape, place it in the basket with perforated sides.",
+    "Put the rectangular box for card storage in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Set the cardboard playing cards box in the handheld basket, and shift the handheld basket away.",
+    "Grab the palm-sized box for playing cards, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Use one arm to grab the rectangular box for card storage, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the box holding playing cards and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the smooth black cards container, drop the smooth black cards container in the plastic basket, slide the plastic basket lightly.",
+    "Grab the playing cards box with gold text and drop it in the yellow basket.",
+    "Use the left arm to grab the black box with rectangular shape, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Pick and move the compact box for playing cards, then shift the handheld basket.",
+    "Put the rectangular box for card storage in the handheld basket, then move the handheld basket away slightly."
+  ],
+  "unseen": [
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the black box with smooth surface to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the yellow basket with open slots and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode22.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..985fa942605fe06b241115aec0847ff1f70edca7
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to grab the blue and gray toycar, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Take the toycar with smooth texture, put the toycar with smooth texture into the woven basket, shift the woven basket.",
+    "Pick the toycar with shiny plastic finish and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick up the small plastic toycar and set it inside the smooth ribbed light brown basket.",
+    "Grab the bright sleek toycar, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue toycar, set it into the light brown oval basket.",
+    "Put the toycar with black tires in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Set the blue top toycar in the brown basket, and shift the brown basket away.",
+    "Place the small plastic toycar into the brown basket and push the brown basket slightly away.",
+    "Use the left arm to grab the blue and gray toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Lift the toycar with shiny plastic finish, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Lift the toycar with shiny wheels using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the toycar with shiny wheels, then shift the basket made of woven wood.",
+    "Pick the blue toycar, place it in the light brown oval basket.",
+    "Pick the bright sleek toycar, drop the bright sleek toycar in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the light brown oval basket.",
+    "Grab the small plastic toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the blue top toycar, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the toycar with shiny wheels and drop it in the basket for holding items.",
+    "Pick the toycar for kids play, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue top toycar in the basket with handle and pull the basket with handle away.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the basket made of woven wood.",
+    "Lift the toycar with black tires, place it into the woven basket, move the woven basket.",
+    "Pick up the blue toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Place the toycar with black tires in the woven basket, then grab the woven basket.",
+    "Pick up the blue toycar, place it in the basket with handle, grab the basket with handle.",
+    "Use one arm to place the blue and gray toycar in the basket for holding items.",
+    "Pick the toycar with smooth texture, put it inside the woven basket.",
+    "Move the bright sleek toycar to the basket for holding items, then shift the basket for holding items.",
+    "Grab the small plastic toycar, place it in the woven basket, then move the woven basket away.",
+    "Use one arm to place the toycar with shiny wheels in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the toycar with smooth texture and drop it in the basket for holding items, then move the basket for holding items.",
+    "Take the toycar with shiny plastic finish, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Use one arm to grab the palm-sized blue toycar, place it in the basket with handle, then move the basket with handle.",
+    "Take the toycar for kids play, put the toycar for kids play into the woven basket, shift the woven basket.",
+    "Pick the blue toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the toycar with black tires and set it inside the brown basket with woven ridges.",
+    "Grab the bright sleek toycar, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the toycar with shiny plastic finish, set it into the brown basket with woven ridges.",
+    "Put the toycar for kids play in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Set the toycar for kids play in the woven basket, and shift the woven basket away.",
+    "Place the toycar with black tires 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 top toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the blue and gray toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the bright sleek toycar using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick and move the small plastic toycar, then shift the basket for carrying things.",
+    "Pick the bright sleek toycar, place it in the wooden basket with curved handle.",
+    "Pick the blue and gray toycar, drop the blue and gray toycar in the woven basket, slide the woven basket lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the brown basket.",
+    "Grab the blue and gray toycar, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the blue and gray toycar, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Grab the bright sleek toycar and drop it in the basket with loop handle.",
+    "Pick the toycar with transparent windshield, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the toycar with smooth texture in the brown basket and pull the brown basket away.",
+    "Use the left arm to pick the toycar for kids play, then use the right arm for the basket with handle.",
+    "Lift the toycar with shiny plastic finish, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick up the toycar with shiny plastic finish, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Place the toycar with black tires in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the bright sleek toycar, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Use one arm to place the blue and gray toycar in the light brown oval basket.",
+    "Pick the toycar for kids play, put it inside the light brown oval basket.",
+    "Move the small plastic toycar to the woven basket, then shift the woven basket.",
+    "Grab the toycar with smooth texture, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Use one arm to place the palm-sized blue toycar in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the toycar with shiny wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the toycar with shiny wheels, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use one arm to grab the blue toycar, place it in the brown basket, then move the brown basket.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Pick the toycar with shiny plastic finish and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the toycar with shiny wheels and set it inside the woven basket.",
+    "Grab the toycar with transparent windshield, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the blue toycar, set it into the brown basket with woven ridges.",
+    "Put the toycar with black tires in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Set the blue toycar in the basket with handle, and shift the basket with handle away.",
+    "Place the toycar with black tires into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Use the left arm to grab the toycar with smooth texture, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the toycar with black tires, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the bright sleek toycar, then shift the basket made of woven wood.",
+    "Pick the toycar with black tires, place it in the brown basket with woven ridges.",
+    "Pick the blue top toycar, drop the blue top toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Grab the toycar with black tires with one arm, drop the toycar with black tires in the basket with handle.",
+    "Grab the blue top toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the toycar with black tires, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the blue top toycar and drop it in the basket for carrying things.",
+    "Pick the bright sleek toycar, place it in the brown basket, shift the brown basket.",
+    "Put the blue and gray toycar in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the brown basket.",
+    "Lift the blue toycar, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the toycar with transparent windshield, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Place the blue toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick up the toycar with smooth texture, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Use one arm to place the blue top toycar in the basket made of woven wood.",
+    "Pick the palm-sized blue toycar, put it inside the light brown oval basket.",
+    "Move the toycar with shiny wheels to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the toycar with smooth texture, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Use one arm to place the toycar with shiny wheels in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the toycar with smooth texture and drop it in the woven basket, then move the woven basket.",
+    "Take the blue and gray toycar, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Use one arm to grab the toycar with shiny plastic finish, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode23.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..773f3012cff6caceafa434a35d0f2e45d72f602c
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the toycar with black tires, drop it in the plastic basket, then move the plastic basket.",
+    "Pick up the toycar with black tires, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the mini car toy, drop in the handheld basket, and move the handheld basket.",
+    "Use one arm to place the miniature teal vehicle toy in the basket with arched black grip.",
+    "Use one arm to grab the small car toy, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the toycar with glossy finish, place it in the handheld basket, then move the handheld basket away.",
+    "Use the left arm to pick the small teal plastic car with windows, then use the right arm for the yellow basket.",
+    "Lift the play car in teal and white using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Put the play car in teal and white in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the mini car toy and drop it in the basket with arched black grip.",
+    "Pick the toycar with glossy finish, place it in the rectangular basket with smooth surface.",
+    "Lift the light teal toycar with white roof, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick and move the compact teal toycar, then shift the rectangular basket with smooth surface.",
+    "Pick the small teal plastic car with windows, place it in the basket with black handle, shift the basket with black handle.",
+    "Pick up the mini car toy, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Grab the miniature teal vehicle toy, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick the smooth teal car, drop the smooth teal car in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Use the left arm to grab the compact teal toycar, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the rounded teal car toy into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the compact teal toycar and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Put the compact teal toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Take the small car toy, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick the play car in teal and white and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Move the small teal plastic car with windows to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Pick the mini car toy, put it inside the yellow basket.",
+    "Lift the small car toy, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Take the miniature teal vehicle toy, put the miniature teal vehicle toy into the bright yellow basket, shift the bright yellow basket.",
+    "Use one arm to place the mini car toy in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Pick up the mini car toy and set it inside the yellow basket.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the yellow basket.",
+    "Grab the play car in teal and white, set it into the medium yellow basket with slots.",
+    "Place the toycar with white roof and teal body in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Set the rounded teal car toy in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Grab the toycar with black tires, drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the smooth teal car, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Grab the rounded teal car toy, drop in the yellow basket, and move the yellow basket.",
+    "Use one arm to place the rounded teal car toy in the bright yellow basket.",
+    "Use one arm to grab the mini car toy, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the play car in teal and white, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the bright yellow basket.",
+    "Lift the miniature teal vehicle toy using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Put the mini car toy in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Grab the light teal toycar with white roof and drop it in the medium yellow basket with slots.",
+    "Pick the toycar with glossy finish, place it in the basket with perforated sides.",
+    "Lift the toycar with glossy finish, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick and move the play car in teal and white, then shift the basket with perforated sides.",
+    "Pick the toycar with white roof and teal body, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the small teal plastic car with windows, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Grab the toycar with white roof and teal body, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the plastic basket, slide the plastic basket lightly.",
+    "Use the left arm to grab the small car toy, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Place the miniature teal vehicle toy into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Pick up the small teal plastic car with windows and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Put the rounded teal car toy in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Take the smooth teal car, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick the toycar with black tires and position it in the plastic basket, move the plastic basket slightly.",
+    "Move the compact teal toycar to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick the smooth teal car, put it inside the basket with perforated sides.",
+    "Lift the miniature teal vehicle toy, place it into the yellow basket, move the yellow basket.",
+    "Take the compact teal toycar, put the compact teal toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to place the compact teal toycar in the plastic basket, adjust the plastic basket.",
+    "Pick up the small car toy and set it inside the plastic basket.",
+    "Grab the smooth teal car with one arm, drop the smooth teal car in the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, set it into the plastic basket.",
+    "Place the toycar with black tires in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Set the smooth teal car in the yellow basket, and shift the yellow basket away.",
+    "Grab the play car in teal and white, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick up the toycar with glossy finish, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Grab the rounded teal car toy, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use one arm to place the toycar with black tires in the yellow basket for carrying stuff.",
+    "Use one arm to grab the smooth teal car, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the play car in teal and white, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use the left arm to pick the compact teal toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Lift the toycar with glossy finish using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Put the mini car toy in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Grab the miniature teal vehicle toy and drop it in the basket with perforated sides.",
+    "Pick the toycar with glossy finish, place it in the rectangular yellow basket.",
+    "Lift the small car toy, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick and move the mini car toy, then shift the carrying basket with black plastic handle.",
+    "Pick the play car in teal and white, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the miniature teal vehicle toy, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Grab the miniature teal vehicle toy, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the mini car toy, drop the mini car toy in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Use the left arm to grab the miniature teal vehicle toy, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the miniature teal vehicle toy into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the mini car toy and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Put the toycar with white roof and teal body in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Take the toycar with white roof and teal body, set it in the handheld basket, shift the handheld basket lightly.",
+    "Pick the play car in teal and white and position it in the yellow basket, move the yellow basket slightly.",
+    "Move the miniature teal vehicle toy to the handheld basket, then shift the handheld basket.",
+    "Pick the mini car toy, put it inside the handheld basket.",
+    "Lift the small car toy, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Take the rounded teal car toy, put the rounded teal car toy into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to place the toycar with white roof and teal body in the yellow basket, adjust the yellow basket.",
+    "Pick up the toycar with black tires and set it inside the plastic basket.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body, set it into the carrying basket with black plastic handle.",
+    "Place the smooth teal car in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Set the smooth teal car in the yellow basket, and shift the yellow basket away.",
+    "Grab the toycar with glossy finish, drop it in the basket with arched black grip, then move the basket with arched black grip."
+  ],
+  "unseen": [
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode24.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..3253e5aab99ac3f60131c29dd02e57f2ba65a782
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the bright blue toycar with roof buttons in the basket with arched black grip.",
+    "Place the hand-sized rolling toycar into the plastic basket and push the plastic basket slightly away.",
+    "Set the toycar with dark gray windows in the handheld basket, and shift the handheld basket away.",
+    "Grab the toycar with rounded edges and drop it in the handheld basket.",
+    "Pick and move the small plastic toycar, then shift the yellow basket for carrying stuff.",
+    "Pick up the toycar made of plastic material and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use the left arm to pick the small plastic toycar, then use the right arm for the carrying basket with black plastic handle.",
+    "Place the bright blue toycar with roof buttons in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Lift the small plastic toycar, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Grab the toycar featuring black and white wheels, drop in the handheld basket, and move the handheld basket.",
+    "Lift the blue toycar with yellow roof accents, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Lift the toycar featuring black and white wheels using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Use one arm to grab the toycar with black wheels, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the hand-sized rolling toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Grab the compact glossy blue toycar with one arm, drop the compact glossy blue toycar in the handheld basket.",
+    "Use the left arm to grab the compact glossy blue toycar, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Put the toycar with dark gray windows in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Grab the kids' toycar in bright blue, set it into the handheld basket.",
+    "Pick the toycar with black wheels, place it in the handheld basket.",
+    "Move the bright blue toycar with roof buttons to the bright yellow basket, then shift the bright yellow basket.",
+    "Pick the toycar with rounded edges, drop the toycar with rounded edges in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Put the blue toycar with yellow roof accents in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Use one arm to place the bright blue toycar with roof buttons in the basket with black handle, adjust the basket with black handle.",
+    "Grab the small plastic toycar, drop it in the yellow basket, shift the yellow basket.",
+    "Pick up the toycar with black wheels, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the toycar with black wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the bright blue toycar with roof buttons and set it inside the carrying basket with black plastic handle.",
+    "Grab the compact glossy blue toycar, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Pick the toycar with dark gray windows, put it inside the bright yellow basket.",
+    "Pick up the plastic toycar with smooth finish, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the bright blue toycar with roof buttons and position it in the handheld basket, move the handheld basket slightly.",
+    "Take the kids' toycar in bright blue, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Use one arm to place the compact glossy blue toycar in the medium yellow basket with slots.",
+    "Place the blue toycar with yellow roof accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Set the toycar featuring black and white wheels in the basket with black handle, and shift the basket with black handle away.",
+    "Grab the toycar with dark gray windows and drop it in the medium yellow basket with slots.",
+    "Pick and move the toycar with black wheels, then shift the yellow basket for carrying stuff.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Use the left arm to pick the toycar made of plastic material, then use the right arm for the rectangular basket with smooth surface.",
+    "Place the bright blue toycar with roof buttons in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Lift the toycar made of plastic material, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Grab the plastic toycar with smooth finish, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Lift the small plastic toycar, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Lift the toycar made of plastic material using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the plastic basket, then move the plastic basket.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Take the small plastic toycar, put the small plastic toycar into the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the bright yellow basket.",
+    "Use the left arm to grab the blue toycar with yellow roof accents, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Put the toycar made of plastic material in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the plastic toycar with smooth finish, set it into the yellow basket for carrying stuff.",
+    "Pick the plastic toycar with smooth finish, place it in the basket with perforated sides.",
+    "Move the kids' toycar in bright blue to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Pick the hand-sized rolling toycar, drop the hand-sized rolling toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Put the toycar featuring black and white wheels in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Use one arm to place the compact glossy blue toycar in the handheld basket, adjust the handheld basket.",
+    "Grab the toycar with dark gray windows, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the small plastic toycar, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the plastic toycar with smooth finish, drop it in the yellow basket, then move the yellow basket.",
+    "Pick up the plastic toycar with smooth finish and set it inside the bright yellow basket.",
+    "Grab the blue toycar with yellow roof accents, place it in the plastic basket, then move the plastic basket away.",
+    "Pick the hand-sized rolling toycar, put it inside the basket with perforated sides.",
+    "Pick up the compact glossy blue toycar, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Pick the toycar with black wheels and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Take the hand-sized rolling toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Use one arm to place the bright blue toycar with roof buttons in the medium yellow basket with slots.",
+    "Place the kids' toycar in bright blue into the yellow basket and push the yellow basket slightly away.",
+    "Set the toycar made of plastic material in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Grab the toycar with black wheels and drop it in the plastic basket.",
+    "Pick and move the hand-sized rolling toycar, then shift the basket with black handle.",
+    "Pick up the toycar with black wheels and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Use the left arm to pick the compact glossy blue toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Place the toycar featuring black and white wheels in the handheld basket, then grab the handheld basket.",
+    "Lift the toycar featuring black and white wheels, place it into the plastic basket, move the plastic basket.",
+    "Grab the bright blue toycar with roof buttons, drop in the handheld basket, and move the handheld basket.",
+    "Lift the blue toycar with yellow roof accents, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Lift the hand-sized rolling toycar using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the kids' toycar in bright blue, place it in the plastic basket, shift the plastic basket.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the basket with arched black grip, shift the basket with arched black grip.",
+    "Grab the kids' toycar in bright blue with one arm, drop the kids' toycar in bright blue in the bright yellow basket.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Put the toycar with dark gray windows in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Grab the toycar featuring black and white wheels, set it into the bright yellow basket.",
+    "Pick the small plastic toycar, place it in the bright yellow basket.",
+    "Move the kids' toycar in bright blue to the basket with black handle, then shift the basket with black handle.",
+    "Pick the toycar with black wheels, drop the toycar with black wheels in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Put the toycar with dark gray windows in the handheld basket, then move the handheld basket away slightly.",
+    "Use one arm to place the toycar with dark gray windows in the plastic basket, adjust the plastic basket.",
+    "Grab the toycar with dark gray windows, drop it in the basket with black handle, shift the basket with black handle.",
+    "Pick up the toycar with dark gray windows, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the toycar with black wheels, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the blue toycar with yellow roof accents and set it inside the bright yellow basket.",
+    "Grab the plastic toycar with smooth finish, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Pick the plastic toycar with smooth finish, put it inside the rectangular basket with smooth surface.",
+    "Pick up the toycar with black wheels, place it in the yellow basket, grab the yellow basket.",
+    "Pick the hand-sized rolling toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Take the toycar with black wheels, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use one arm to place the plastic toycar with smooth finish in the yellow basket."
+  ],
+  "unseen": [
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode25.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1de143cfdf366bf1ef603253d129c933129af99
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the glossy rectangular playingcards box with one arm, drop the glossy rectangular playingcards box in the handheld basket.",
+    "Lift the hand-sized playingcards container, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick the smooth playingcards pack and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick and move the playingcards storage box, then shift the handheld basket.",
+    "Pick up the small playingcards pack and set it inside the plastic basket.",
+    "Pick the hand-sized playingcards container, put it inside the carrying basket with black plastic handle.",
+    "Place the glossy rectangular playingcards box in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Put the red playingcards box in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Pick the compact red playingcards pack, drop the compact red playingcards pack in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Place the hand-sized playingcards container into the handheld basket and push the handheld basket slightly away.",
+    "Pick up the small playingcards pack and drop it in the plastic basket, then move the plastic basket.",
+    "Grab the red playingcards box, drop it in the plastic basket, shift the plastic basket.",
+    "Put the box for playingcards in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Grab the smooth playingcards pack, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Take the playingcards storage box, put the playingcards storage box into the yellow basket, shift the yellow basket.",
+    "Use one arm to grab the hand-sized playingcards container, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the small playingcards pack, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use one arm to place the small playingcards pack in the carrying basket with black plastic handle.",
+    "Use one arm to place the hand-sized playingcards container in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Use the left arm to pick the yellow and red playingcards box, then use the right arm for the basket with perforated sides.",
+    "Move the compact red playingcards pack to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Pick up the hand-sized playingcards container, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick up the hand-sized playingcards container, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Pick the compact red playingcards pack, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the hand-sized playingcards container using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Lift the playingcards storage box, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Use the left arm to grab the small playingcards pack, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Grab the compact red playingcards pack, set it into the yellow basket for carrying stuff.",
+    "Grab the glossy rectangular playingcards box, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Take the red playingcards box, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the red playingcards box and drop it in the bright yellow basket.",
+    "Pick the playingcards box with white accents, place it in the medium yellow basket with slots.",
+    "Set the compact red playingcards pack in the yellow basket, and shift the yellow basket away.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the yellow basket for carrying stuff.",
+    "Lift the red and yellow playingcards case, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the glossy rectangular playingcards box and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Pick and move the rectangular playingcards case, then shift the yellow basket for carrying stuff.",
+    "Pick up the compact red playingcards pack and set it inside the rectangular basket with smooth surface.",
+    "Pick the red playingcards box, put it inside the basket with arched black grip.",
+    "Place the smooth playingcards pack in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Put the smooth playingcards pack in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Place the compact red playingcards pack into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Pick up the box for playingcards and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the yellow and red playingcards box, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Put the smooth playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the hand-sized playingcards container, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the yellow and red playingcards box, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Use one arm to place the small playingcards pack in the basket with black handle.",
+    "Use one arm to place the glossy rectangular playingcards box in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the handheld basket.",
+    "Move the playingcards box with white accents to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Pick up the red playingcards box, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick up the compact red playingcards pack, place it in the yellow basket, grab the yellow basket.",
+    "Pick the smooth playingcards pack, place it in the yellow basket, shift the yellow basket.",
+    "Lift the playingcards storage box using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm.",
+    "Lift the yellow and red playingcards box, place it into the basket with black handle, move the basket with black handle.",
+    "Use the left arm to grab the red playingcards box, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Grab the playingcards box with white accents, set it into the bright yellow basket.",
+    "Grab the box for playingcards, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the yellow and red playingcards box, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the red and yellow playingcards case and drop it in the rectangular basket with smooth surface.",
+    "Pick the playingcards storage box, place it in the yellow basket.",
+    "Set the small playingcards pack in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Grab the red and yellow playingcards case with one arm, drop the red and yellow playingcards case in the bright yellow basket.",
+    "Lift the box for playingcards, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Pick the smooth playingcards pack and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick and move the compact red playingcards pack, then shift the rectangular yellow basket.",
+    "Pick up the playingcards storage box and set it inside the basket with perforated sides.",
+    "Pick the box for playingcards, put it inside the yellow basket.",
+    "Place the playingcards storage box in the plastic basket, then grab the plastic basket.",
+    "Put the red and yellow playingcards case in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Place the glossy rectangular playingcards box into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick up the red and yellow playingcards case and drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the hand-sized playingcards container, drop it in the plastic basket, shift the plastic basket.",
+    "Put the small playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Grab the box for playingcards, drop it in the plastic basket, then move the plastic basket.",
+    "Take the box for playingcards, put the box for playingcards into the basket with perforated sides, shift the basket with perforated sides.",
+    "Use one arm to grab the red playingcards box, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the red and yellow playingcards case, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Use one arm to place the compact red playingcards pack in the yellow basket for carrying stuff.",
+    "Use one arm to place the box for playingcards in the yellow basket, adjust the yellow basket.",
+    "Use the left arm to pick the compact red playingcards pack, then use the right arm for the yellow basket.",
+    "Move the box for playingcards to the yellow basket, then shift the yellow basket.",
+    "Pick up the hand-sized playingcards container, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Pick up the hand-sized playingcards container, place it in the handheld basket, grab the handheld basket.",
+    "Pick the box for playingcards, place it in the basket with black handle, shift the basket with black handle.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the small playingcards pack, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Use the left arm to grab the compact red playingcards pack, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Grab the box for playingcards, set it into the basket with black handle.",
+    "Grab the rectangular playingcards case, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the hand-sized playingcards container, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Grab the red and yellow playingcards case and drop it in the bright yellow basket.",
+    "Pick the glossy rectangular playingcards box, place it in the basket with perforated sides.",
+    "Set the compact red playingcards pack in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Grab the playingcards storage box with one arm, drop the playingcards storage box in the yellow basket."
+  ],
+  "unseen": [
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow basket with open slots and move it.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode26.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2cf595d19fe6d1495f0a783726dbea22c44a39b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the compact teal toycar, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Lift the play car in teal and white, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the yellow basket.",
+    "Place the toycar with white roof and teal body in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the compact teal toycar and set it inside the medium yellow basket with slots.",
+    "Pick the light teal toycar with white roof and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Put the small car toy in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Move the compact teal toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the miniature teal vehicle toy, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Lift the miniature teal vehicle toy, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Pick up the mini car toy, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Pick up the small car toy, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Pick the smooth teal car, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Put the mini car toy in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Take the rounded teal car toy, put the rounded teal car toy into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the toycar with glossy finish into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Use the right arm to grab the mini car toy, place it in the rectangular yellow basket, and move the rectangular yellow basket using the left arm.",
+    "Take the miniature teal vehicle toy, set it in the plastic basket, shift the plastic basket lightly.",
+    "Use one arm to place the smooth teal car in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Grab the rounded teal car toy, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Grab the smooth teal car, set it into the handheld basket.",
+    "Use one arm to grab the mini car toy, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Grab the mini car toy and drop it in the rectangular yellow basket.",
+    "Use the right arm to pick the mini car toy, then use the left arm for the basket with black handle.",
+    "Set the toycar with black tires in the basket with black handle, and shift the basket with black handle away.",
+    "Grab the small teal plastic car with windows, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Pick the toycar with black tires, put it inside the bright yellow basket.",
+    "Pick up the smooth teal car and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Lift the smooth teal car using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Use one arm to place the small car toy in the basket with arched black grip.",
+    "Pick the toycar with glossy finish, place it in the basket with perforated sides.",
+    "Pick and move the toycar with black tires, then shift the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the small teal plastic car with windows, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular basket with smooth surface.",
+    "Place the play car in teal and white in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick up the smooth teal car and set it inside the rectangular basket with smooth surface.",
+    "Pick the light teal toycar with white roof and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Put the compact teal toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Move the smooth teal car to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Grab the light teal toycar with white roof, drop in the yellow basket, and move the yellow basket.",
+    "Lift the play car in teal and white, place it into the basket with black handle, move the basket with black handle.",
+    "Pick up the small car toy, put it in the handheld basket, shift the handheld basket a little.",
+    "Pick up the toycar with white roof and teal body, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Pick the light teal toycar with white roof, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Put the compact teal toycar in the plastic basket and pull the plastic basket away.",
+    "Take the small car toy, put the small car toy into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the play car in teal and white into the yellow basket and push the yellow basket slightly away.",
+    "Use the right arm to grab the play car in teal and white, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Take the rounded teal car toy, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Use one arm to place the rounded teal car toy in the yellow basket, adjust the yellow basket.",
+    "Grab the small teal plastic car with windows, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Grab the toycar with white roof and teal body, set it into the handheld basket.",
+    "Use one arm to grab the play car in teal and white, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the play car in teal and white and drop it in the rectangular basket with smooth surface.",
+    "Use the right arm to pick the toycar with white roof and teal body, then use the left arm for the handheld basket.",
+    "Set the small car toy in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Grab the rounded teal car toy, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with white roof and teal body, drop the toycar with white roof and teal body in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Pick the toycar with white roof and teal body, put it inside the bright yellow basket.",
+    "Pick up the miniature teal vehicle toy and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the light teal toycar with white roof using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Use one arm to place the compact teal toycar in the yellow basket for carrying stuff.",
+    "Pick the mini car toy, place it in the handheld basket.",
+    "Pick and move the smooth teal car, then shift the basket with black handle.",
+    "Grab the rounded teal car toy, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the play car in teal and white, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Grab the compact teal toycar with one arm, drop the compact teal toycar in the carrying basket with black plastic handle.",
+    "Place the light teal toycar with white roof in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the small teal plastic car with windows and set it inside the carrying basket with black plastic handle.",
+    "Pick the toycar with glossy finish and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Put the toycar with black tires in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Move the play car in teal and white to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the play car in teal and white, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Lift the compact teal toycar, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Pick up the toycar with black tires, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Pick up the toycar with white roof and teal body, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick the miniature teal vehicle toy, place it in the yellow basket, shift the yellow basket.",
+    "Put the small teal plastic car with windows in the plastic basket and pull the plastic basket away.",
+    "Take the light teal toycar with white roof, put the light teal toycar with white roof into the yellow basket, shift the yellow basket.",
+    "Place the toycar with black tires into the yellow basket and push the yellow basket slightly away.",
+    "Use the right arm to grab the rounded teal car toy, place it in the handheld basket, and move the handheld basket using the left arm.",
+    "Take the play car in teal and white, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Use one arm to place the miniature teal vehicle toy in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Grab the toycar with white roof and teal body, place it in the yellow basket, then move the yellow basket away.",
+    "Grab the small teal plastic car with windows, set it into the handheld basket.",
+    "Use one arm to grab the small car toy, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Grab the compact teal toycar and drop it in the handheld basket.",
+    "Use the right arm to pick the rounded teal car toy, then use the left arm for the rectangular basket with smooth surface.",
+    "Set the compact teal toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Grab the mini car toy, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the play car in teal and white, drop the play car in teal and white in the handheld basket, slide the handheld basket lightly.",
+    "Pick the toycar with glossy finish, put it inside the basket with black handle.",
+    "Pick up the rounded teal car toy and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Lift the compact teal toycar using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Use one arm to place the light teal toycar with white roof in the yellow basket for carrying stuff.",
+    "Pick the toycar with white roof and teal body, place it in the carrying basket with black plastic handle.",
+    "Pick and move the small teal plastic car with windows, then shift the yellow basket for carrying stuff.",
+    "Grab the play car in teal and white, drop it in the basket with arched black grip, shift the basket with arched black grip."
+  ],
+  "unseen": [
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Move the plastic teal car with wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the teal toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic teal car with wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Pick up the teal toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode27.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c7c46ff02ced1311174d34b1ccbafaaabac17f
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the toycar with smiling face design with one arm, drop the toycar with smiling face design in the oval-shaped basket with woven body.",
+    "Place the palm-sized plastic toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Lift the lightweight toycar, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Set the toycar with smiling face design in the basket for carrying things, and shift the basket for carrying things away.",
+    "Put the blue toycar with white windows in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the plastic toycar, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the toycar with black and orange wheels in the oval-shaped basket with woven body.",
+    "Take the small toycar, put the small toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the lightweight toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the toycar with black and orange wheels, put it inside the brown basket with woven ridges.",
+    "Put the lightweight toycar in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick up the toycar with black and orange wheels and set it inside the light brown oval basket.",
+    "Lift the toycar for kids, place it into the basket for holding items, move the basket for holding items.",
+    "Take the palm-sized plastic toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Move the blue toycar with white windows to the light brown oval basket, then shift the light brown oval basket.",
+    "Use one arm to place the palm-sized plastic toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the toycar for kids, drop the toycar for kids in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the small toycar, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick the toycar with smiling face design and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the small blue car-shaped toycar, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Place the toycar with rounded edges in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the blue toycar with white windows using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Grab the toycar for kids, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use the right arm to grab the toycar for kids, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Pick up the toycar with smiling face design and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the toycar with smiling face design, place it in the woven basket.",
+    "Pick and move the toycar with black and orange wheels, then shift the brown basket.",
+    "Pick up the plastic toycar, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the palm-sized plastic toycar, set it into the basket for carrying things.",
+    "Grab the glossy blue toycar, drop in the basket for holding items, and move the basket for holding items.",
+    "Use the right arm to pick the plastic toycar, then use the left arm for the basket made of woven wood.",
+    "Grab the glossy blue toycar and drop it in the brown basket with woven ridges.",
+    "Use one arm to grab the lightweight toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the small blue car-shaped toycar with one arm, drop the small blue car-shaped toycar in the oval-shaped basket with woven body.",
+    "Place the plastic toycar into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Lift the small blue car-shaped toycar, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Set the small blue car-shaped toycar in the basket for carrying things, and shift the basket for carrying things away.",
+    "Put the blue toycar with white windows in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the bright blue toycar, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the blue toycar with white windows in the basket for carrying things.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick the toycar for kids, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick the blue toycar with white windows, put it inside the wooden basket with curved handle.",
+    "Put the toycar with smiling face design in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick up the toycar with rounded edges and set it inside the basket for carrying things.",
+    "Lift the toycar for kids, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Take the glossy blue toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Move the glossy blue toycar to the basket with handle, then shift the basket with handle.",
+    "Use one arm to place the blue toycar with white windows in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick the lightweight toycar, drop the lightweight toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the toycar with rounded edges, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick the small toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick up the toycar with smiling face design, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Place the toycar with rounded edges in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Grab the toycar for kids, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the plastic toycar, place it in the basket for holding items, and move the basket for holding items using the left arm.",
+    "Pick up the palm-sized plastic toycar and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the lightweight toycar, place it in the brown basket with woven ridges.",
+    "Pick and move the toycar with black and orange wheels, then shift the wooden basket with curved handle.",
+    "Pick up the toycar with rounded edges, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the small blue car-shaped toycar, set it into the brown basket with woven ridges.",
+    "Grab the small toycar, drop in the basket with handle, and move the basket with handle.",
+    "Use the right arm to pick the toycar with black and orange wheels, then use the left arm for the wooden basket with curved handle.",
+    "Grab the blue toycar with white windows and drop it in the woven basket.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the toycar with rounded edges with one arm, drop the toycar with rounded edges in the wooden basket with curved handle.",
+    "Place the small blue car-shaped toycar into the basket with handle and push the basket with handle slightly away.",
+    "Lift the toycar with black and orange wheels, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Set the bright blue toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Put the blue toycar with white windows in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the small toycar, drop it in the woven basket, shift the woven basket.",
+    "Use one arm to place the toycar with rounded edges in the smooth ribbed light brown basket.",
+    "Take the lightweight toycar, put the lightweight toycar into the basket with handle, shift the basket with handle.",
+    "Pick the glossy blue toycar, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the plastic toycar, put it inside the brown basket.",
+    "Put the toycar with rounded edges in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the toycar with rounded edges and set it inside the basket with loop handle.",
+    "Lift the glossy blue toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Take the small toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Move the small toycar to the basket for carrying things, then shift the basket for carrying things.",
+    "Use one arm to place the toycar with black and orange wheels in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the small blue car-shaped toycar, drop the small blue car-shaped toycar in the basket with handle, slide the basket with handle lightly.",
+    "Grab the toycar with rounded edges, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick the glossy blue toycar and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the bright blue toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Place the palm-sized plastic toycar in the brown basket, then grab the brown basket.",
+    "Lift the palm-sized plastic toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Grab the glossy blue toycar, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the toycar with rounded edges, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Pick up the small toycar and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with smiling face design, place it in the brown basket.",
+    "Pick and move the glossy blue toycar, then shift the smooth ribbed light brown basket.",
+    "Pick up the palm-sized plastic toycar, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the glossy blue toycar, set it into the basket with loop handle.",
+    "Grab the toycar with rounded edges, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Use the right arm to pick the blue toycar with white windows, then use the left arm for the brown basket with woven ridges.",
+    "Grab the small blue car-shaped toycar and drop it in the basket with loop handle.",
+    "Use one arm to grab the palm-sized plastic toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the small blue car-shaped toycar with one arm, drop the small blue car-shaped toycar in the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and place into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with smooth finish in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with smooth finish, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and place into the medium basket with smooth texture.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and put it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and place into the medium basket with smooth texture.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with orange wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with orange wheels and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the toycar with smooth finish in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish and drop in the oval basket with medium storage space.",
+    "Move the toycar with smooth finish to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with orange wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the toycar with orange wheels and drop in the medium basket with smooth texture.",
+    "Move the toycar with orange wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with smooth finish, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the toycar with orange wheels and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with orange wheels and put it into the basket with rounded edges.",
+    "Pick up the blue toycar and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the toycar with smooth finish and put it into the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the toycar with smooth finish to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with smooth finish and put it into the basket with rounded edges.",
+    "Pick up the toycar with orange wheels and drop in the oval basket with medium storage space.",
+    "Move the toycar with smooth finish to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Grab the toycar with orange wheels and place into the oval basket with medium storage space.",
+    "Pick up the toycar with orange wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the toycar with orange wheels in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the toycar with smooth finish to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with smooth finish and put it in the basket with rounded edges.",
+    "Grab the toycar with smooth finish and place into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with smooth finish and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with smooth finish and drop in the basket with rounded edges.",
+    "Move the toycar with orange wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with orange wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the toycar with orange wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with smooth finish and drop in the basket with rounded edges.",
+    "Move the toycar with smooth finish to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with smooth finish, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with orange wheels, place it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode28.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..785360836d279b4316d20604180f313e98559aeb
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the palm-sized blue toycar with one arm, drop the palm-sized blue toycar in the basket for carrying things.",
+    "Lift the bright sleek toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Use one arm to grab the bright sleek toycar, place it in the brown basket, then move the brown basket.",
+    "Pick up the toycar with black tires and set it inside the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the small plastic toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Grab the blue and gray toycar and drop it in the brown basket with woven ridges.",
+    "Lift the bright sleek toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Place the toycar with transparent windshield in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the blue toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick the blue top toycar, put it inside the brown basket with woven ridges.",
+    "Pick the blue and gray toycar, place it in the wooden basket with curved handle.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the bright sleek toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the blue top toycar, drop in the basket with handle, and move the basket with handle.",
+    "Take the toycar with black tires, put the toycar with black tires into the brown basket, shift the brown basket.",
+    "Grab the toycar with shiny plastic finish, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Place the toycar with black tires into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Put the toycar with shiny plastic finish in the woven basket and pull the woven basket away.",
+    "Use one arm to place the toycar with shiny wheels in the brown basket with woven ridges.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use the right arm to pick the toycar with transparent windshield, then use the left arm for the basket made of woven wood.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Use one arm to place the bright sleek toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the palm-sized blue toycar, set it into the basket with handle.",
+    "Pick up the blue toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use the right arm to grab the palm-sized blue toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Pick up the blue top toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Move the toycar with black tires to the basket for holding items, then shift the basket for holding items.",
+    "Pick up the toycar with smooth texture, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the toycar with shiny wheels, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Set the small plastic toycar in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the woven basket.",
+    "Lift the toycar for kids play, place it into the basket with handle, move the basket with handle.",
+    "Use one arm to grab the toycar for kids play, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the toycar with shiny wheels and set it inside the basket with handle.",
+    "Pick the blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the bright sleek toycar in the woven basket, then move the woven basket away slightly.",
+    "Grab the small plastic toycar and drop it in the basket for holding items.",
+    "Lift the small plastic toycar, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Place the toycar for kids play in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Take the blue top toycar, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the palm-sized blue toycar, put it inside the woven basket.",
+    "Pick the toycar for kids play, place it in the wooden basket with curved handle.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the brown basket, slide the brown basket lightly.",
+    "Pick the bright sleek toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the bright sleek toycar, drop in the basket for holding items, and move the basket for holding items.",
+    "Take the blue top toycar, put the blue top toycar into the brown basket, shift the brown basket.",
+    "Grab the blue toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Place the small plastic toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Put the small plastic toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the toycar with black tires in the basket made of woven wood.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Use the right arm to pick the toycar with shiny plastic finish, then use the left arm for the light brown oval basket.",
+    "Pick and move the small plastic toycar, then shift the basket with handle.",
+    "Use one arm to place the toycar with shiny wheels in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the toycar with smooth texture, set it into the wooden basket with curved handle.",
+    "Pick up the toycar with black tires, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use the right arm to grab the palm-sized blue toycar, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Pick up the toycar with shiny wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the toycar with black tires to the brown basket, then shift the brown basket.",
+    "Pick up the bright sleek toycar, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the toycar for kids play, drop it in the basket for holding items, shift the basket for holding items.",
+    "Set the blue top toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Grab the bright sleek toycar with one arm, drop the bright sleek toycar in the basket for carrying things.",
+    "Lift the palm-sized blue toycar, place it into the woven basket, move the woven basket.",
+    "Use one arm to grab the small plastic toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the bright sleek toycar and set it inside the basket for holding items.",
+    "Pick the blue top toycar, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Put the blue and gray toycar in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the palm-sized blue toycar and drop it in the basket with loop handle.",
+    "Lift the toycar with black tires, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Place the palm-sized blue toycar in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the blue toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the small plastic toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the small plastic toycar, put it inside the woven basket.",
+    "Pick the toycar with black tires, place it in the brown basket.",
+    "Pick the toycar with smooth texture, drop the toycar with smooth texture in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the blue top toycar and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the blue top toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Take the toycar with transparent windshield, put the toycar with transparent windshield into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the toycar with smooth texture, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Place the toycar with transparent windshield into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Put the blue toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Use one arm to place the blue toycar in the basket with handle.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use the right arm to pick the toycar with transparent windshield, then use the left arm for the brown basket.",
+    "Pick and move the blue toycar, then shift the basket made of woven wood.",
+    "Use one arm to place the palm-sized blue toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, set it into the basket for holding items.",
+    "Pick up the small plastic toycar, put it in the basket with handle, shift the basket with handle a little.",
+    "Use the right arm to grab the blue and gray toycar, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Pick up the blue and gray toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Move the toycar for kids play to the basket with handle, then shift the basket with handle.",
+    "Pick up the toycar with transparent windshield, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Grab the toycar with smooth texture, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Set the blue toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the woven basket."
+  ],
+  "unseen": [
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode29.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b289149d21ed25607b5206e3f7dc41a7da9461
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the black playing cards box, then use the left arm for the plastic basket.",
+    "Lift the cardboard playing cards box using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Move the playing cards box with gold text to the basket with black handle, then shift the basket with black handle.",
+    "Grab the palm-sized box for playing cards and drop it in the yellow basket.",
+    "Pick up the black playing cards box, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Put the small black box with cards in the yellow basket, then move the yellow basket away slightly.",
+    "Pick and move the black box with rectangular shape, then shift the bright yellow basket.",
+    "Grab the black box with rectangular shape, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Grab the smooth black cards container, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Pick the black box with rectangular shape, place it in the basket with arched black grip.",
+    "Set the black playing cards box in the bright yellow basket, and shift the bright yellow basket away.",
+    "Pick up the rectangular box for card storage and set it inside the basket with black handle.",
+    "Pick the box holding playing cards, put it inside the basket with arched black grip.",
+    "Take the cardboard playing cards box, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Put the black box with rectangular shape in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick up the cardboard playing cards box, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Grab the black playing cards box, set it into the handheld basket.",
+    "Place the black box with rectangular shape into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Place the box with cards inside in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the handheld basket.",
+    "Take the black playing cards box, put the black playing cards box into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Lift the smooth black cards container, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Use the right arm to grab the box with cards inside, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick the cardboard playing cards box and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick the compact box for playing cards, drop the compact box for playing cards in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick the rectangle-shaped cards box, place it in the yellow basket, shift the yellow basket.",
+    "Use one arm to place the smooth black cards container in the yellow basket, adjust the yellow basket.",
+    "Grab the black box with rectangular shape, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Use one arm to grab the playing cards box with gold text, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the playing cards box with gold text and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Use one arm to place the palm-sized box for playing cards in the yellow basket for carrying stuff.",
+    "Grab the box with cards inside, drop it in the plastic basket, then move the plastic basket.",
+    "Lift the rectangle-shaped cards box, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Use the right arm to pick the smooth black cards container, then use the left arm for the yellow basket.",
+    "Lift the compact box for playing cards using the right arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the left arm.",
+    "Move the rectangular box for card storage to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the palm-sized box for playing cards and drop it in the carrying basket with black plastic handle.",
+    "Pick up the rectangular box for card storage, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Put the smooth black cards container in the yellow basket, then move the yellow basket away slightly.",
+    "Pick and move the black box with rectangular shape, then shift the basket with perforated sides.",
+    "Grab the box with cards inside, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Grab the compact box for playing cards, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick the small black box with cards, place it in the rectangular basket with smooth surface.",
+    "Set the black playing cards box in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Pick up the small black box with cards and set it inside the handheld basket.",
+    "Pick the small black box with cards, put it inside the basket with black handle.",
+    "Take the compact box for playing cards, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Put the compact box for playing cards in the handheld basket and pull the handheld basket away.",
+    "Pick up the box holding playing cards, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the smooth black cards container, set it into the carrying basket with black plastic handle.",
+    "Place the black box with rectangular shape into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Place the rectangle-shaped cards box in the yellow basket, then grab the yellow basket.",
+    "Grab the rectangular box for card storage with one arm, drop the rectangular box for card storage in the rectangular basket with smooth surface.",
+    "Take the box holding playing cards, put the box holding playing cards into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the small black box with cards, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Use the right arm to grab the box holding playing cards, place it in the basket with arched black grip, and move the basket with arched black grip using the left arm.",
+    "Pick the box with cards inside and position it in the handheld basket, move the handheld basket slightly.",
+    "Pick the box with cards inside, drop the box with cards inside in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Pick the box with cards inside, place it in the plastic basket, shift the plastic basket.",
+    "Use one arm to place the rectangle-shaped cards box in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Grab the compact box for playing cards, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use one arm to grab the black playing cards box, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the playing cards box with gold text and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Use one arm to place the rectangle-shaped cards box in the plastic basket.",
+    "Grab the black box with rectangular shape, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the small black box with cards, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the bright yellow basket.",
+    "Lift the rectangle-shaped cards box using the right arm, drop it in the plastic basket, then push the plastic basket via the left arm.",
+    "Move the rectangular box for card storage to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Grab the smooth black cards container and drop it in the basket with black handle.",
+    "Pick up the rectangle-shaped cards box, place it in the basket with black handle, grab the basket with black handle.",
+    "Put the small black box with cards in the handheld basket, then move the handheld basket away slightly.",
+    "Pick and move the rectangle-shaped cards box, then shift the bright yellow basket.",
+    "Grab the compact box for playing cards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Grab the playing cards box with gold text, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Pick the rectangular box for card storage, place it in the rectangular basket with smooth surface.",
+    "Set the playing cards box with gold text in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Pick up the black box with rectangular shape and set it inside the handheld basket.",
+    "Pick the rectangular box for card storage, put it inside the basket with arched black grip.",
+    "Take the compact box for playing cards, set it in the yellow basket, shift the yellow basket lightly.",
+    "Put the smooth black cards container in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Pick up the black playing cards box, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Grab the box with cards inside, set it into the yellow basket for carrying stuff.",
+    "Place the box holding playing cards into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Place the rectangular box for card storage in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the basket with black handle.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the yellow basket, shift the yellow basket.",
+    "Lift the palm-sized box for playing cards, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the basket with black handle, and move the basket with black handle using the left arm.",
+    "Pick the black box with rectangular shape and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Pick the rectangle-shaped cards box, place it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the small black box with cards in the yellow basket, adjust the yellow basket.",
+    "Grab the cardboard playing cards box, drop it in the plastic basket, shift the plastic basket.",
+    "Use one arm to grab the compact box for playing cards, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the box holding playing cards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the cardboard playing cards box in the medium yellow basket with slots.",
+    "Grab the black playing cards box, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the playing cards box with gold text, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the yellow basket for carrying stuff."
+  ],
+  "unseen": [
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the medium-sized basket with perforated texture and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode3.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef7d6348b931e0135ecb21e28a9f02d5df4e718
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact glossy blue toycar, put it inside the basket with black handle.",
+    "Take the small plastic toycar, put the small plastic toycar into the basket with black handle, shift the basket with black handle.",
+    "Use the left arm to pick the kids' toycar in bright blue, then use the right arm for the rectangular yellow basket.",
+    "Use the left arm to grab the toycar with black wheels, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Pick up the toycar made of plastic material, put it in the basket with black handle, shift the basket with black handle a little.",
+    "Grab the toycar with rounded edges, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to grab the plastic toycar with smooth finish, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Grab the small plastic toycar, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Grab the bright blue toycar with roof buttons, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Take the hand-sized rolling toycar, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick the toycar featuring black and white wheels, place it in the yellow basket, shift the yellow basket.",
+    "Pick up the toycar with dark gray windows and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the toycar with rounded edges and position it in the basket with black handle, move the basket with black handle slightly.",
+    "Grab the plastic toycar with smooth finish and drop it in the medium yellow basket with slots.",
+    "Lift the bright blue toycar with roof buttons using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Pick the toycar made of plastic material, place it in the basket with black handle.",
+    "Place the blue toycar with yellow roof accents in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Put the hand-sized rolling toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Set the compact glossy blue toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Lift the small plastic toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Pick up the small plastic toycar and set it inside the basket with black handle.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the toycar with dark gray windows with one arm, drop the toycar with dark gray windows in the bright yellow basket.",
+    "Put the hand-sized rolling toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Lift the blue toycar with yellow roof accents, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Place the toycar featuring black and white wheels into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the bright blue toycar with roof buttons, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to place the small plastic toycar in the yellow basket for carrying stuff.",
+    "Pick and move the toycar with rounded edges, then shift the medium yellow basket with slots.",
+    "Grab the toycar featuring black and white wheels, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff.",
+    "Grab the toycar made of plastic material, set it into the medium yellow basket with slots.",
+    "Use one arm to place the toycar made of plastic material in the yellow basket, adjust the yellow basket.",
+    "Move the bright blue toycar with roof buttons to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with arched black grip.",
+    "Take the toycar with black wheels, put the toycar with black wheels into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use the left arm to pick the hand-sized rolling toycar, then use the right arm for the carrying basket with black plastic handle.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Pick up the blue toycar with yellow roof accents, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the plastic toycar with smooth finish, drop it in the plastic basket, then move the plastic basket.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the kids' toycar in bright blue, drop it in the plastic basket, shift the plastic basket.",
+    "Grab the plastic toycar with smooth finish, place it in the handheld basket, then move the handheld basket away.",
+    "Take the bright blue toycar with roof buttons, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the small plastic toycar, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with rounded edges and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick the bright blue toycar with roof buttons and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Grab the hand-sized rolling toycar and drop it in the plastic basket.",
+    "Lift the compact glossy blue toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with perforated sides.",
+    "Place the bright blue toycar with roof buttons in the plastic basket, then grab the plastic basket.",
+    "Put the toycar with black wheels in the bright yellow basket and pull the bright yellow basket away.",
+    "Set the kids' toycar in bright blue in the yellow basket, and shift the yellow basket away.",
+    "Lift the bright blue toycar with roof buttons, place it into the basket with black handle, move the basket with black handle.",
+    "Pick up the kids' toycar in bright blue and set it inside the carrying basket with black plastic handle.",
+    "Pick the toycar featuring black and white wheels, drop the toycar featuring black and white wheels in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the carrying basket with black plastic handle.",
+    "Put the toycar featuring black and white wheels in the handheld basket, then move the handheld basket away slightly.",
+    "Lift the toycar with rounded edges, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Place the blue toycar with yellow roof accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick up the toycar with dark gray windows, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Use one arm to place the kids' toycar in bright blue in the basket with arched black grip.",
+    "Pick and move the kids' toycar in bright blue, then shift the yellow basket for carrying stuff.",
+    "Grab the toycar with black wheels, drop in the handheld basket, and move the handheld basket.",
+    "Grab the toycar with rounded edges, set it into the bright yellow basket.",
+    "Use one arm to place the kids' toycar in bright blue in the bright yellow basket, adjust the bright yellow basket.",
+    "Move the hand-sized rolling toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the compact glossy blue toycar, put it inside the medium yellow basket with slots.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the basket with black handle, shift the basket with black handle.",
+    "Use the left arm to pick the toycar with rounded edges, then use the right arm for the basket with perforated sides.",
+    "Use the left arm to grab the toycar featuring black and white wheels, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Pick up the bright blue toycar with roof buttons, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Grab the kids' toycar in bright blue, drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to grab the small plastic toycar, place it in the handheld basket, then move the handheld basket.",
+    "Grab the toycar made of plastic material, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Grab the kids' toycar in bright blue, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Take the bright blue toycar with roof buttons, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the toycar with black wheels, place it in the plastic basket, shift the plastic basket.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick the bright blue toycar with roof buttons and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Grab the toycar featuring black and white wheels and drop it in the basket with black handle.",
+    "Lift the toycar with rounded edges using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Pick the compact glossy blue toycar, place it in the basket with arched black grip.",
+    "Place the kids' toycar in bright blue in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Put the compact glossy blue toycar in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Set the plastic toycar with smooth finish in the bright yellow basket, and shift the bright yellow basket away.",
+    "Lift the toycar made of plastic material, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick up the blue toycar with yellow roof accents and set it inside the plastic basket.",
+    "Pick the bright blue toycar with roof buttons, drop the bright blue toycar with roof buttons in the basket with black handle, slide the basket with black handle lightly.",
+    "Grab the plastic toycar with smooth finish with one arm, drop the plastic toycar with smooth finish in the bright yellow basket.",
+    "Put the toycar featuring black and white wheels in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Lift the toycar with black wheels, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Place the toycar with black wheels into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Pick up the toycar with dark gray windows, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Use one arm to place the small plastic toycar in the carrying basket with black plastic handle.",
+    "Pick and move the toycar with rounded edges, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar featuring black and white wheels, drop in the yellow basket, and move the yellow basket.",
+    "Grab the small plastic toycar, set it into the carrying basket with black plastic handle.",
+    "Use one arm to place the toycar with dark gray windows in the basket with black handle, adjust the basket with black handle.",
+    "Move the toycar with dark gray windows to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with black handle."
+  ],
+  "unseen": [
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Move the blue toycar with yellow buttons to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow basket with open slots and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow rectangular basket with dual grips.",
+    "Move the blue toycar with yellow buttons to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode30.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a7b4468b22a6abf78595c8c11a3e9a5c69c60e
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the blue carton for playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the box of playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket for holding items.",
+    "Place the blue and white playingcards packaging in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Move the card box with golden designs to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the wooden basket with curved handle.",
+    "Pick and move the card box with golden designs, then shift the basket for carrying things.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the light brown oval basket.",
+    "Take the small playingcards container, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket, then move the brown basket.",
+    "Lift the blue pack holding playingcards using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use one arm to place the blue pack holding playingcards in the wooden basket with curved handle.",
+    "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 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 and pull the woven basket away.",
+    "Pick up the playingcards pack with blue top, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for holding items.",
+    "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.",
+    "Grab the small playingcards container, set it into the smooth ribbed light brown basket.",
+    "Put the box of playingcards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Set the playingcards pack with blue top in the basket with handle, and shift the basket with handle away.",
+    "Use one arm to place the playingcards box with white symbols in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the blue and white playingcards packaging and drop it in the woven basket.",
+    "Place the smooth playingcards holder into the woven basket and push the woven basket slightly away.",
+    "Grab the blue carton for playingcards, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the card box with golden designs, put it inside the basket for carrying things.",
+    "Use the right 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 left arm.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue carton for playingcards, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the smooth playingcards holder, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the smooth playingcards holder, place it into the brown basket, move the brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the basket with handle, grab the basket with handle.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the brown basket, shift the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the brown basket.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the playingcards pack with blue top to the basket for carrying things, then shift the basket for carrying things.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood.",
+    "Pick and move the playingcards box with white symbols, then shift the wooden basket with curved handle.",
+    "Use the right arm to pick the blue and white playingcards packaging, then use the left arm for the woven basket.",
+    "Take the rectangular blue playingcards case, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the rectangular blue playingcards case using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use one arm to place the box of playingcards in the brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the blue pack holding playingcards, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Put the blue carton for playingcards in the basket with handle and pull the basket with handle away.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Pick up the smooth playingcards holder and set it inside the wooden basket with curved handle.",
+    "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.",
+    "Grab the card box with golden designs, set it into the brown basket with woven ridges.",
+    "Put the blue and white playingcards packaging in the brown basket, then move the brown basket away slightly.",
+    "Set the smooth playingcards holder in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the smooth playingcards holder in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case and drop it in the basket for carrying things.",
+    "Place the palm-sized playingcards carton into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the blue playingcards box, put it inside the basket made of woven wood.",
+    "Use the right arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Pick the blue carton for playingcards and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Lift the blue pack holding playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the playingcards pack with blue top, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the blue playingcards box, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Take the small playingcards container, put the small playingcards container into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with loop handle.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "Pick the playingcards pack with blue top, place it in the basket for holding items.",
+    "Pick and move the palm-sized playingcards carton, then shift the smooth ribbed light brown basket.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the basket for holding items.",
+    "Take the palm-sized playingcards carton, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the blue playingcards box using the right arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the left arm.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop it in the brown basket, shift the brown basket.",
+    "Grab the playingcards box with white symbols, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the small playingcards container, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick up the box of playingcards and set it inside 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 blue and white playingcards packaging, set it into 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.",
+    "Set the playingcards box with white symbols in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the playingcards pack with blue top in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Place the blue playingcards box into the basket for holding items and push the basket for holding items slightly away.",
+    "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.",
+    "Pick up the playingcards box with white symbols and drop it in the woven basket, then move the woven basket.",
+    "Pick the card box with golden designs, put it inside the basket for holding items.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "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.",
+    "Pick the card box with golden designs, place it in the basket for holding items, shift the basket for holding items.",
+    "Lift the card box with golden designs, drop it in the woven basket, then slightly relocate the woven basket."
+  ],
+  "unseen": [
+    "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 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 and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, 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.",
+    "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 medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the 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.",
+    "Pick up the rectangular playingcards pack 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 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.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the 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 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.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "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 basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the 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 put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the 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 basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the 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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, 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.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "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 small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards 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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, 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.",
+    "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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "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 basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the 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 in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "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 oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode31.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..317b181b01bbd5b56007602a31587a2f91dab998
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket for carrying things.",
+    "Use one arm to place the toycar with smooth texture in the basket for carrying things.",
+    "Pick up the toycar with shiny wheels, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use one arm to grab the toycar with shiny plastic finish, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the toycar with transparent windshield, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Grab the small plastic toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Take the blue toycar, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue and gray toycar, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the blue toycar in the basket with handle, then grab the basket with handle.",
+    "Grab the bright sleek toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with transparent windshield, put it inside the woven basket.",
+    "Move the bright sleek toycar to the brown basket, then shift the brown basket.",
+    "Lift the blue and gray toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Use one arm to place the blue and gray toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick the bright sleek toycar, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Lift the blue top toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the toycar for kids play and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the toycar for kids play with one arm, drop the toycar for kids play in the basket made of woven wood.",
+    "Pick the blue and gray toycar, place it in the basket with loop handle.",
+    "Grab the toycar with shiny plastic finish and drop it in the light brown oval basket.",
+    "Pick the palm-sized blue toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the toycar for kids play into the basket with handle and push the basket with handle slightly away.",
+    "Set the toycar with shiny plastic finish in the brown basket, and shift the brown basket away.",
+    "Pick the blue top toycar, drop the blue top toycar in the basket for holding items, slide the basket for holding items lightly.",
+    "Grab the blue toycar, set it into the woven basket.",
+    "Pick up the small plastic toycar, place it in the basket for holding items, grab the basket for holding items.",
+    "Use the left arm to grab the bright sleek toycar, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the basket with handle, shift the basket with handle.",
+    "Put the toycar with transparent windshield in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the blue and gray toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick and move the small plastic toycar, then shift the woven basket.",
+    "Pick up the blue and gray toycar and set it inside the light brown oval basket.",
+    "Grab the toycar with shiny plastic finish, drop in the woven basket, and move the woven basket.",
+    "Use the left arm to pick the toycar with black tires, then use the right arm for the wooden basket with curved handle.",
+    "Use one arm to place the palm-sized blue toycar in the basket with handle.",
+    "Pick up the toycar with transparent windshield, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Use one arm to grab the blue toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Lift the blue top toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Grab the small plastic toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Take the bright sleek toycar, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the toycar with smooth texture, drop it in the basket for holding items, shift the basket for holding items.",
+    "Place the toycar with black tires in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, drop it in the brown basket, then move the brown basket.",
+    "Pick the bright sleek toycar, put it inside the basket with handle.",
+    "Move the bright sleek toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Lift the toycar with shiny plastic finish 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.",
+    "Use one arm to place the toycar for kids play in the woven basket, adjust the woven basket.",
+    "Pick the blue top toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Lift the toycar with black tires, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the palm-sized blue toycar and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the basket made of woven wood.",
+    "Pick the blue toycar, place it in the basket with loop handle.",
+    "Grab the toycar with shiny plastic finish and drop it in the basket for holding items.",
+    "Pick the toycar with transparent windshield and position it in the brown basket, move the brown basket slightly.",
+    "Place the palm-sized blue toycar into the basket with handle and push the basket with handle slightly away.",
+    "Set the blue and gray toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the toycar with black tires, set it into the brown basket.",
+    "Pick up the palm-sized blue toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Use the left arm to grab the blue and gray toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Take the toycar with black tires, put the toycar with black tires into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue toycar in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Put the toycar with shiny wheels in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick and move the toycar for kids play, then shift the basket for carrying things.",
+    "Pick up the bright sleek toycar and set it inside the wooden basket with curved handle.",
+    "Grab the toycar with transparent windshield, drop in the basket for holding items, and move the basket for holding items.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket for holding items.",
+    "Use one arm to place the small plastic toycar in the basket for carrying things.",
+    "Pick up the bright sleek toycar, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Use one arm to grab the blue toycar, place it in the woven basket, then move the woven basket.",
+    "Lift the palm-sized blue toycar, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the small plastic toycar, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Take the blue toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Grab the toycar with black tires, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Place the toycar for kids play in the basket for carrying things, then grab the basket for carrying things.",
+    "Grab the toycar for kids play, drop it in the basket with handle, then move the basket with handle.",
+    "Pick the palm-sized blue toycar, put it inside the basket for holding items.",
+    "Move the toycar with shiny wheels to the basket with loop handle, then shift the basket with loop handle.",
+    "Lift the blue and gray toycar using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Use one arm to place the bright sleek toycar in the brown basket, adjust the brown basket.",
+    "Pick the palm-sized blue toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Lift the toycar with smooth texture, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the toycar with shiny plastic finish with one arm, drop the toycar with shiny plastic finish in the brown basket.",
+    "Pick the toycar with shiny wheels, place it in the woven basket.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Pick the toycar with shiny wheels and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Place the palm-sized blue toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Set the palm-sized blue toycar in the basket with handle, and shift the basket with handle away.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the woven basket, slide the woven basket lightly.",
+    "Grab the toycar with black tires, set it into the oval-shaped basket with woven body.",
+    "Pick up the toycar with transparent windshield, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use the left arm to grab the toycar with black tires, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the basket for holding items, shift the basket for holding items.",
+    "Put the toycar with transparent windshield in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the palm-sized blue toycar in the basket with handle and pull the basket with handle away.",
+    "Pick and move the toycar with shiny wheels, then shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with transparent windshield and set it inside the woven basket.",
+    "Grab the blue top toycar, drop in the basket with handle, and move the basket with handle.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the brown basket."
+  ],
+  "unseen": [
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode32.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f160d882f5b76cbc30cc0217731c1ce12e061a3
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small toycar for kids play, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the toycar with rounded compact shape, put it inside the basket with handle.",
+    "Place the toycar with purple tinted windows into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the pink toycar shaped like real car, place it in the basket for carrying things.",
+    "Use one arm to place the toycar with rounded compact shape in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the miniature pink car with black wheels in the basket with handle and pull the basket with handle away.",
+    "Pick the pink toycar shaped like real car, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the miniature pink car with black wheels, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Lift the hand-sized toycar with white roof bars, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the small toycar for kids play with one arm, drop the small toycar for kids play in the woven basket.",
+    "Pick and move the toycar with purple tinted windows, then shift the basket with loop handle.",
+    "Take the pink toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Use the left arm to grab the pink car with purple windows, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick up the small toycar for kids play, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the pink car with purple windows in the basket with loop handle.",
+    "Grab the toycar with rounded compact shape and drop it in the light brown oval basket.",
+    "Pick the pink toycar, drop the pink toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the toycar with rounded compact shape, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the toycar with rounded compact shape, set it into the woven basket.",
+    "Grab the small toycar for kids play, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the pink toycar with rounded corners and position it in the basket with handle, move the basket with handle slightly.",
+    "Use the left arm to pick the toycar with rounded compact shape, then use the right arm for the basket for holding items.",
+    "Lift the hand-sized toycar with white roof bars using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the pink toycar, drop it in the woven basket, shift the woven basket.",
+    "Set the small pink car with smooth texture in the basket for carrying things, and shift the basket for carrying things away.",
+    "Place the hand-sized toycar with white roof bars in the basket with loop handle, then grab the basket with loop handle.",
+    "Put the miniature pink car with black wheels in the basket with handle, then move the basket with handle away slightly.",
+    "Take the small pink car with smooth texture, put the small pink car with smooth texture into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the toycar with purple tinted windows and set it inside the brown basket.",
+    "Move the pink car with purple windows to the basket with loop handle, then shift the basket with loop handle.",
+    "Use one arm to grab the toycar made from smooth plastic, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the pink toycar with rounded corners and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the toycar with purple tinted windows, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the miniature pink car with black wheels, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Pick the small pink car with smooth texture, put it inside the basket with loop handle.",
+    "Place the pink toycar into the woven basket and push the woven basket slightly away.",
+    "Pick the miniature pink car with black wheels, place it in the smooth ribbed light brown basket.",
+    "Use one arm to place the pink car with purple windows in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Put the toycar with rounded compact shape in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the pink toycar, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the pink car with purple windows, put it in the woven basket, shift the woven basket a little.",
+    "Lift the small pink car with smooth texture, place it into the basket for carrying things, move the basket for carrying things.",
+    "Grab the small pink plastic toycar with one arm, drop the small pink plastic toycar in the basket for carrying things.",
+    "Pick and move the miniature pink car with black wheels, then shift the woven basket.",
+    "Take the pink toycar with rounded corners, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use the left arm to grab the pink toycar shaped like real car, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the toycar made from smooth plastic, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the pink toycar shaped like real car in the brown basket.",
+    "Grab the pink toycar and drop it in the brown basket with woven ridges.",
+    "Pick the pink toycar shaped like real car, drop the pink toycar shaped like real car in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the hand-sized toycar with white roof bars, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the pink toycar with rounded corners, set it into the basket with handle.",
+    "Grab the pink car with purple windows, drop in the basket with handle, and move the basket with handle.",
+    "Pick the pink toycar with rounded corners and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to pick the pink toycar shaped like real car, then use the right arm for the basket with loop handle.",
+    "Lift the pink toycar with rounded corners 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 small toycar for kids play, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Set the small pink car with smooth texture in the basket with loop handle, and shift the basket with loop handle away.",
+    "Place the pink toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Put the small pink car with smooth texture in the basket for holding items, then move the basket for holding items away slightly.",
+    "Take the small toycar for kids play, put the small toycar for kids play into the woven basket, shift the woven basket.",
+    "Pick up the toycar with purple tinted windows and set it inside the basket for carrying things.",
+    "Move the small pink car with smooth texture to the brown basket, then shift the brown basket.",
+    "Use one arm to grab the toycar with rounded compact shape, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick up the toycar with rounded compact shape and drop it in the woven basket, then move the woven basket.",
+    "Grab the small toycar for kids play, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the toycar made from smooth plastic, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the small pink plastic toycar, put it inside the wooden basket with curved handle.",
+    "Place the pink toycar shaped like real car into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the miniature pink car with black wheels, place it in the wooden basket with curved handle.",
+    "Use one arm to place the toycar made from smooth plastic in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the pink toycar shaped like real car in the basket for holding items and pull the basket for holding items away.",
+    "Pick the small pink plastic toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the toycar with rounded compact shape, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Lift the toycar made from smooth plastic, place it into the brown basket, move the brown basket.",
+    "Grab the pink car with purple windows with one arm, drop the pink car with purple windows in the smooth ribbed light brown basket.",
+    "Pick and move the pink toycar shaped like real car, then shift the basket for carrying things.",
+    "Take the pink car with purple windows, set it in the woven basket, shift the woven basket lightly.",
+    "Use the left arm to grab the pink toycar with rounded corners, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the miniature pink car with black wheels, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use one arm to place the toycar with purple tinted windows in the brown basket.",
+    "Grab the small toycar for kids play and drop it in the basket with loop handle.",
+    "Pick the small pink car with smooth texture, drop the small pink car with smooth texture in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the hand-sized toycar with white roof bars, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the small pink car with smooth texture, set it into the brown basket.",
+    "Grab the toycar made from smooth plastic, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the pink toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use the left arm to pick the small pink plastic toycar, then use the right arm for the basket for holding items.",
+    "Lift the hand-sized toycar with white roof bars using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Grab the pink car with purple windows, drop it in the basket for holding items, shift the basket for holding items.",
+    "Set the pink car with purple windows in the basket with handle, and shift the basket with handle away.",
+    "Place the small pink car with smooth texture in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Put the pink toycar shaped like real car in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Take the miniature pink car with black wheels, put the miniature pink car with black wheels into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with purple tinted windows and set it inside the basket made of woven wood.",
+    "Move the toycar made from smooth plastic to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the miniature pink car with black wheels, place it in the woven basket, then move the woven basket.",
+    "Pick up the hand-sized toycar with white roof bars and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the pink toycar shaped like real car, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the miniature pink car with black wheels, drop it in the basket for carrying things, then slightly relocate the basket for carrying things."
+  ],
+  "unseen": [
+    "Pick up the pink toycar with white bumper, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the pink toycar with white bumper to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the pink toycar with white bumper in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the pink toycar with white bumper, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the pink toycar with white bumper in the basket with rounded edges and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the pink toycar with white bumper and drop in the medium basket with smooth texture.",
+    "Pick up the tiny pink car with four wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the pink toycar with white bumper to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the tiny pink car with four wheels in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the pink toycar with white bumper to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and place into the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the pink toycar with white bumper and drop in the basket with rounded edges.",
+    "Pick up the pink toycar with white bumper, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it in the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and place into the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it into the basket with rounded edges.",
+    "Pick up the tiny pink car with four wheels and drop in the basket with rounded edges.",
+    "Pick up the pink toycar with white bumper, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the tiny pink car with four wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the compact toycar with shiny black tires in the basket with rounded edges and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels and place into the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the tiny pink car with four wheels and drop in the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the tiny pink car with four wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the pink toycar with white bumper in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the pink toycar with white bumper and place into the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper and put it into the basket with rounded edges.",
+    "Pick up the tiny pink car with four wheels and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with shiny black tires to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the compact toycar with shiny black tires in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and place into the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it in the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it into the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the tiny pink car with four wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the tiny pink car with four wheels in the basket with rounded edges and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode33.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..5263839b7e54ab94c7a1e718d4ec7332be784c76
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the toycar with black tires, put it inside the basket with handle.",
+    "Grab the toycar for kids play with one arm, drop the toycar for kids play in the basket for carrying things.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the woven basket, shift the woven basket.",
+    "Grab the blue top toycar, drop in the woven basket, and move the woven basket.",
+    "Lift the toycar with smooth texture, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Place the small plastic toycar in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick and move the toycar with shiny wheels, then shift the woven basket.",
+    "Use one arm to place the blue toycar in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick up the blue top toycar and drop it in the brown basket, then move the brown basket.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket with handle, slide the basket with handle lightly.",
+    "Use one arm to grab the blue and gray toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the toycar with smooth texture, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the bright sleek toycar and drop it in the basket with handle.",
+    "Place the blue toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Grab the toycar with black tires, set it into the oval-shaped basket with woven body.",
+    "Put the bright sleek toycar in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Set the blue top toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the toycar with shiny plastic finish, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick the small plastic toycar and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Put the toycar with shiny wheels in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick up the toycar with shiny plastic finish and set it inside the light brown oval basket.",
+    "Grab the toycar with shiny wheels, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Use one arm to place the blue toycar in the woven basket.",
+    "Lift the blue and gray toycar, place it into the basket with handle, move the basket with handle.",
+    "Use the left arm to grab the blue and gray toycar, 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 blue toycar, then use the right arm for the oval-shaped basket with woven body.",
+    "Grab the toycar with smooth texture, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the small plastic toycar, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the bright sleek toycar to the brown basket, then shift the brown basket.",
+    "Lift the toycar with black tires using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Take the toycar with shiny wheels, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Pick the toycar with transparent windshield, place it in the basket for carrying things.",
+    "Pick the toycar with smooth texture, place it in the woven basket, shift the woven basket.",
+    "Pick the toycar for kids play, put it inside the brown basket with woven ridges.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the smooth ribbed light brown basket.",
+    "Take the blue top toycar, put the blue top toycar into the woven basket, shift the woven basket.",
+    "Grab the blue top toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the blue and gray toycar, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Place the blue toycar in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Use one arm to place the toycar with transparent windshield in the woven basket, adjust the woven basket.",
+    "Pick up the blue toycar and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the blue toycar, drop the blue toycar in the brown basket, slide the brown basket lightly.",
+    "Use one arm to grab the blue toycar, place it in the woven basket, then move the woven basket.",
+    "Pick up the blue top toycar, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the toycar with smooth texture and drop it in the basket made of woven wood.",
+    "Place the blue top toycar into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the toycar for kids play, set it into the brown basket with woven ridges.",
+    "Put the toycar for kids play in the woven basket, then move the woven basket away slightly.",
+    "Set the toycar with black tires in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick up the small plastic toycar, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick the toycar with smooth texture and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Put the toycar with smooth texture in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the blue top toycar and set it inside the woven basket.",
+    "Grab the palm-sized blue toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use one arm to place the toycar with shiny plastic finish in the oval-shaped basket with woven body.",
+    "Lift the blue top toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Use the left arm to grab the toycar with shiny plastic finish, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the brown basket with woven ridges.",
+    "Grab the toycar with shiny plastic finish, drop it in the woven basket, shift the woven basket.",
+    "Grab the toycar with smooth texture, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Move the bright sleek toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Take the bright sleek toycar, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick the blue toycar, place it in the wooden basket with curved handle.",
+    "Pick the toycar with transparent windshield, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the toycar with shiny wheels, put it inside the basket for holding items.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket for carrying things.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Grab the blue toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Lift the toycar with shiny plastic finish, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Place the blue and gray toycar in the brown basket, then grab the brown basket.",
+    "Pick and move the toycar for kids play, then shift the smooth ribbed light brown basket.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the blue toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick the bright sleek toycar, drop the bright sleek toycar in the woven basket, slide the woven basket lightly.",
+    "Use one arm to grab the toycar with shiny wheels, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the toycar with black tires, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the palm-sized blue toycar and drop it in the brown basket with woven ridges.",
+    "Place the toycar with shiny plastic finish into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Grab the toycar with shiny wheels, set it into the oval-shaped basket with woven body.",
+    "Put the toycar with smooth texture in the basket with handle, then move the basket with handle away slightly.",
+    "Set the toycar with black tires in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick up the bright sleek toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the blue toycar and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Put the toycar with transparent windshield in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the bright sleek toycar and set it inside the basket with handle.",
+    "Grab the toycar for kids play, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use one arm to place the toycar with smooth texture in the basket for carrying things.",
+    "Lift the toycar with black tires, place it into the woven basket, move the woven basket.",
+    "Use the left arm to grab the toycar with black tires, place it in the woven basket, and move the woven basket using the right arm.",
+    "Use the left arm to pick the bright sleek toycar, then use the right arm for the basket made of woven wood.",
+    "Grab the toycar with black tires, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the blue top toycar, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Move the small plastic toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the palm-sized blue toycar using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Take the toycar with black tires, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the blue and gray toycar, place it in the oval-shaped basket with woven body.",
+    "Pick the blue and gray toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, put it inside the basket with handle."
+  ],
+  "unseen": [
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode34.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..46efd4b4eb83d8eaaa5c9561ee8c111a9d9841f2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small blue car-shaped toycar, set it into the rectangular basket with smooth surface.",
+    "Put the bright blue toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the blue toycar with white windows, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Use the left arm to grab the plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Lift the toycar with smiling face design using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Grab the palm-sized plastic toycar, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the toycar with smiling face design in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the plastic basket, slide the plastic basket lightly.",
+    "Lift the plastic toycar, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick the lightweight toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Grab the lightweight toycar, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the lightweight toycar, then shift the plastic basket.",
+    "Place the toycar for kids into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Move the toycar with smiling face design to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the rectangular yellow basket.",
+    "Use one arm to place the small blue car-shaped toycar in the basket with black handle.",
+    "Pick the palm-sized plastic toycar, put it inside the rectangular basket with smooth surface.",
+    "Lift the small blue car-shaped toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Take the toycar with rounded edges, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Place the blue toycar with white windows in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to grab the glossy blue toycar, place it in the handheld basket, then move the handheld basket.",
+    "Pick the blue toycar with white windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick up the toycar for kids, put it in the handheld basket, shift the handheld basket a little.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with rounded edges and set it inside the basket with black handle.",
+    "Grab the toycar with rounded edges, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Set the lightweight toycar in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Put the lightweight toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the palm-sized plastic toycar and drop it in the yellow basket for carrying stuff.",
+    "Pick up the toycar with rounded edges and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the toycar with black and orange wheels, place it in the yellow basket for carrying stuff.",
+    "Grab the small blue car-shaped toycar, set it into the basket with black handle.",
+    "Put the toycar with rounded edges in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the toycar with black and orange wheels, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Use the left arm to grab the plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Lift the blue toycar with white windows using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Grab the small blue car-shaped toycar, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to place the palm-sized plastic toycar in the yellow basket, adjust the yellow basket.",
+    "Pick the bright blue toycar, drop the bright blue toycar in the handheld basket, slide the handheld basket lightly.",
+    "Lift the small blue car-shaped toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Pick the palm-sized plastic toycar and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Grab the plastic toycar, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick and move the lightweight toycar, then shift the basket with perforated sides.",
+    "Place the plastic toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Move the plastic toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the yellow basket for carrying stuff.",
+    "Use one arm to place the lightweight toycar in the bright yellow basket.",
+    "Pick the small toycar, put it inside the rectangular yellow basket.",
+    "Lift the toycar with black and orange wheels, place it into the handheld basket, move the handheld basket.",
+    "Take the toycar with black and orange wheels, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Use the left arm to pick the plastic toycar, then use the right arm for the handheld basket.",
+    "Grab the small toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Place the toycar for kids in the basket with black handle, then grab the basket with black handle.",
+    "Use one arm to grab the small blue car-shaped toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the small toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the lightweight toycar, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Take the palm-sized plastic toycar, put the palm-sized plastic toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the small toycar and set it inside the basket with arched black grip.",
+    "Grab the bright blue toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Set the palm-sized plastic toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Put the small toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the toycar with smiling face design and drop it in the basket with arched black grip.",
+    "Pick up the blue toycar with white windows and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the small blue car-shaped toycar, place it in the carrying basket with black plastic handle.",
+    "Grab the palm-sized plastic toycar, set it into the handheld basket.",
+    "Put the toycar with rounded edges in the handheld basket and pull the handheld basket away.",
+    "Pick up the glossy blue toycar, place it in the plastic basket, grab the plastic basket.",
+    "Use the left arm to grab the blue toycar with white windows, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Lift the plastic toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Grab the plastic toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Use one arm to place the toycar with smiling face design in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the toycar with smiling face design, drop the toycar with smiling face design in the handheld basket, slide the handheld basket lightly.",
+    "Lift the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Pick the toycar with rounded edges and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Grab the bright blue toycar, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the toycar for kids, then shift the handheld basket.",
+    "Place the small toycar into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Move the palm-sized plastic toycar to the bright yellow basket, then shift the bright yellow basket.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the basket with black handle.",
+    "Use one arm to place the blue toycar with white windows in the carrying basket with black plastic handle.",
+    "Pick the bright blue toycar, put it inside the yellow basket for carrying stuff.",
+    "Lift the small blue car-shaped toycar, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Take the toycar with rounded edges, set it in the plastic basket, shift the plastic basket lightly.",
+    "Use the left arm to pick the glossy blue toycar, then use the right arm for the medium yellow basket with slots.",
+    "Grab the toycar with smiling face design, place it in the basket with black handle, then move the basket with black handle away.",
+    "Place the blue toycar with white windows in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to grab the glossy blue toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the toycar with black and orange wheels, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the glossy blue toycar, put it in the plastic basket, shift the plastic basket a little.",
+    "Take the small blue car-shaped toycar, put the small blue car-shaped toycar into the handheld basket, shift the handheld basket.",
+    "Pick up the bright blue toycar and set it inside the basket with perforated sides.",
+    "Grab the toycar with black and orange wheels, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Set the toycar with rounded edges in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Put the toycar with rounded edges in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Grab the toycar for kids and drop it in the handheld basket.",
+    "Pick up the palm-sized plastic toycar and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the small toycar, place it in the handheld basket.",
+    "Grab the blue toycar with white windows, set it into the rectangular basket with smooth surface."
+  ],
+  "unseen": [
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode35.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd32207936e1198900d0ac0f43581b96dc216095
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the green car-shaped toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the small plastic green toycar, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the shiny green toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the toycar with black wheels, drop the toycar with black wheels in the woven basket, slide the woven basket lightly.",
+    "Pick the green toycar made from plastic and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Place the green toycar into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Grab the green car-shaped toycar, place it in the brown basket, then move the brown basket away.",
+    "Pick up the shiny green toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the green car-shaped toycar, set it into the basket with loop handle.",
+    "Pick and move the playful green toycar, then shift the brown basket.",
+    "Grab the playful green toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Put the small plastic green toycar in the basket for holding items, then move the basket for holding items away slightly.",
+    "Put the smooth green toycar in the light brown oval basket and pull the light brown oval basket away.",
+    "Use the left arm to pick the smooth green toycar, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the tiny green toycar and set it inside the wooden basket with curved handle.",
+    "Take the tiny green toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the playful green toycar, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Take the tiny green toycar, put the tiny green toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to place the playful green toycar in the basket with handle, adjust the basket with handle.",
+    "Place the toycar with black roof and wheels in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the small green toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Move the green toycar to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the green car-shaped toycar, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the playful green toycar, place it in the basket for holding items.",
+    "Set the smooth green toycar in the basket with handle, and shift the basket with handle away.",
+    "Lift the green toycar made from plastic using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the tiny green toycar, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Use the left arm to grab the playful green toycar, 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 playful green toycar in the basket for holding items.",
+    "Pick the smooth green toycar, put it inside the smooth ribbed light brown basket.",
+    "Use one arm to grab the small green toycar, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the basket with handle.",
+    "Grab the small plastic green toycar and drop it in the smooth ribbed light brown basket.",
+    "Pick up the green toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the miniature bright green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Lift the tiny green toycar, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Pick the toycar with black roof and wheels, drop the toycar with black roof and wheels in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Pick the miniature bright green toycar and position it in the brown basket, move the brown basket slightly.",
+    "Place the playful green toycar into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the smooth green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick up the green car-shaped toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the miniature bright green toycar, set it into the brown basket with woven ridges.",
+    "Pick and move the small plastic green toycar, then shift the woven basket.",
+    "Grab the toycar with black wheels, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the green car-shaped toycar in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Put the toycar with black wheels in the light brown oval basket and pull the light brown oval basket away.",
+    "Use the left arm to pick the green toycar, then use the right arm for the basket made of woven wood.",
+    "Pick up the tiny green toycar and set it inside the basket made of woven wood.",
+    "Take the smooth green toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the shiny green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the playful green toycar, put the playful green toycar into the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the tiny green toycar in the basket for carrying things, adjust the basket for carrying things.",
+    "Place the green toycar in the brown basket, then grab the brown basket.",
+    "Grab the green toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Move the playful green toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Grab the green toycar, drop it in the woven basket, then move the woven basket.",
+    "Pick the miniature bright green toycar, place it in the wooden basket with curved handle.",
+    "Set the green toycar in the light brown oval basket, and shift the light brown oval basket away.",
+    "Lift the green toycar made from plastic using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick up the toycar with black wheels, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use the left arm to grab the toycar with black roof and wheels, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to place the smooth green toycar in the basket with handle.",
+    "Pick the green toycar, put it inside the brown basket with woven ridges.",
+    "Use one arm to grab the playful green toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the brown basket.",
+    "Grab the small plastic green toycar and drop it in the brown basket with woven ridges.",
+    "Pick up the playful green toycar, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Lift the tiny green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Lift the playful green toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the shiny green toycar, drop the shiny green toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the playful green toycar and position it in the brown basket, move the brown basket slightly.",
+    "Place the shiny green toycar into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Grab the smooth green toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick up the shiny green toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the toycar with black wheels, set it into the basket with loop handle.",
+    "Pick and move the green car-shaped toycar, then shift the basket with handle.",
+    "Grab the small green toycar, drop it in the brown basket, shift the brown basket.",
+    "Put the small plastic green toycar in the woven basket, then move the woven basket away slightly.",
+    "Put the toycar with black roof and wheels in the basket with loop handle and pull the basket with loop handle away.",
+    "Use the left arm to pick the smooth green toycar, then use the right arm for the brown basket.",
+    "Pick up the green car-shaped toycar and set it inside the basket for holding items.",
+    "Take the small green toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the small green toycar, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Take the tiny green toycar, put the tiny green toycar into the brown basket, shift the brown basket.",
+    "Use one arm to place the playful green toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Place the shiny green toycar in the woven basket, then grab the woven basket.",
+    "Grab the miniature bright green toycar, drop in the basket with handle, and move the basket with handle.",
+    "Move the shiny green toycar to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the toycar with black wheels, drop it in the woven basket, then move the woven basket.",
+    "Pick the miniature bright green toycar, place it in the wooden basket with curved handle.",
+    "Set the toycar with black wheels in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Lift the toycar with black wheels using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Pick up the smooth green toycar, place it in the brown basket, grab the brown basket.",
+    "Use the left arm to grab the playful green toycar, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Use one arm to place the shiny green toycar in the brown basket with woven ridges.",
+    "Pick the playful green toycar, put it inside the wooden basket with curved handle.",
+    "Use one arm to grab the smooth green toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the playful green toycar with one arm, drop the playful green toycar in the wooden basket with curved handle.",
+    "Grab the small green toycar and drop it in the light brown oval basket.",
+    "Pick up the miniature bright green toycar, put it in the woven basket, shift the woven basket a little."
+  ],
+  "unseen": [
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the plastic toycar and drop in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the basket with rounded edges.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the bright green toycar and place into the oval basket with medium storage space.",
+    "Move the bright green toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Pick up the plastic toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the oval basket with medium storage space.",
+    "Grab the plastic toycar and place into the basket with rounded edges.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded edges in the oval basket with medium storage space and move it.",
+    "Grab the bright green toycar and put it in the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Move the bright green toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the plastic toycar in the medium basket with smooth texture and move it.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the oval basket with medium storage space.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Move the plastic toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the bright green toycar and place into the medium basket with smooth texture.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges and drop in the basket with rounded edges.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Move the plastic toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Pick up the plastic toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Move the bright green toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode36.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d5d1bc6c6d6d378221e5ad7d8f630e1cc6bffdb
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hand-sized rolling toycar, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the plastic toycar with smooth finish, set it into the basket made of woven wood.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the basket with loop handle, shift the basket with loop handle.",
+    "Pick the kids' toycar in bright blue and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Put the toycar with rounded edges in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the blue toycar with yellow roof accents, drop in the basket with handle, and move the basket with handle.",
+    "Pick the hand-sized rolling toycar, place it in the basket with loop handle.",
+    "Pick and move the hand-sized rolling toycar, then shift the light brown oval basket.",
+    "Take the plastic toycar with smooth finish, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Pick the compact glossy blue toycar, put it inside the basket for holding items.",
+    "Put the hand-sized rolling toycar in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the toycar featuring black and white wheels and set it inside the woven basket.",
+    "Grab the hand-sized rolling toycar and drop it in the basket with loop handle.",
+    "Pick the toycar with black wheels, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the toycar with dark gray windows in the brown basket, adjust the brown basket.",
+    "Lift the kids' toycar in bright blue using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to place the plastic toycar with smooth finish in the woven basket.",
+    "Pick up the small plastic toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the bright blue toycar with roof buttons, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the hand-sized rolling toycar with one arm, drop the hand-sized rolling toycar in the basket for holding items.",
+    "Use the right arm to pick the toycar featuring black and white wheels, then use the left arm for the basket made of woven wood.",
+    "Place the blue toycar with yellow roof accents into the woven basket and push the woven basket slightly away.",
+    "Use the right arm to grab the bright blue toycar with roof buttons, place it in the woven basket, and move the woven basket using the left arm.",
+    "Lift the blue toycar with yellow roof accents, place it into the basket for carrying things, move the basket for carrying things.",
+    "Set the small plastic toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick up the small plastic toycar, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the plastic toycar with smooth finish, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Move the compact glossy blue toycar to the basket with loop handle, then shift the basket with loop handle.",
+    "Grab the hand-sized rolling toycar, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Place the hand-sized rolling toycar in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Lift the toycar made of plastic material, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick up the toycar featuring black and white wheels, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the small plastic toycar, set it into the basket made of woven wood.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the toycar with dark gray windows and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Put the toycar with rounded edges in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the toycar made of plastic material, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the toycar featuring black and white wheels, place it in the basket for holding items.",
+    "Pick and move the toycar with black wheels, then shift the basket with loop handle.",
+    "Take the plastic toycar with smooth finish, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick the toycar featuring black and white wheels, put it inside the basket with loop handle.",
+    "Put the toycar made of plastic material in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the kids' toycar in bright blue and set it inside the wooden basket with curved handle.",
+    "Grab the toycar featuring black and white wheels and drop it in the brown basket with woven ridges.",
+    "Pick the toycar with rounded edges, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the toycar featuring black and white wheels in the light brown oval basket, adjust the light brown oval basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use one arm to place the small plastic toycar in the woven basket.",
+    "Pick up the small plastic toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the toycar with black wheels, place it in the basket with handle, then move the basket with handle away.",
+    "Grab the toycar made of plastic material with one arm, drop the toycar made of plastic material in the smooth ribbed light brown basket.",
+    "Use the right arm to pick the kids' toycar in bright blue, then use the left arm for the basket made of woven wood.",
+    "Place the toycar with black wheels into the basket for holding items and push the basket for holding items slightly away.",
+    "Use the right arm to grab the small plastic toycar, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Lift the blue toycar with yellow roof accents, place it into the basket for holding items, move the basket for holding items.",
+    "Set the toycar with dark gray windows in the brown basket, and shift the brown basket away.",
+    "Pick up the toycar with rounded edges, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the toycar featuring black and white wheels, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Move the toycar featuring black and white wheels to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Grab the toycar with dark gray windows, drop it in the basket for holding items, then move the basket for holding items.",
+    "Place the compact glossy blue toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the toycar featuring black and white wheels, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick up the blue toycar with yellow roof accents, put it in the brown basket, shift the brown basket a little.",
+    "Use one arm to grab the kids' toycar in bright blue, place it in the basket with handle, then move the basket with handle.",
+    "Grab the toycar with dark gray windows, set it into the basket made of woven wood.",
+    "Take the bright blue toycar with roof buttons, put the bright blue toycar with roof buttons into the light brown oval basket, shift the light brown oval basket.",
+    "Pick the toycar with black wheels and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Put the bright blue toycar with roof buttons in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the small plastic toycar, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the bright blue toycar with roof buttons, place it in the basket with loop handle.",
+    "Pick and move the plastic toycar with smooth finish, then shift the brown basket.",
+    "Take the compact glossy blue toycar, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick the toycar with black wheels, put it inside the basket with loop handle.",
+    "Put the toycar featuring black and white wheels in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the toycar with black wheels and set it inside the basket for carrying things.",
+    "Grab the blue toycar with yellow roof accents and drop it in the oval-shaped basket with woven body.",
+    "Pick the bright blue toycar with roof buttons, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Lift the toycar made of plastic material using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Use one arm to place the kids' toycar in bright blue in the oval-shaped basket with woven body.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the plastic toycar with smooth finish, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the woven basket.",
+    "Use the right arm to pick the toycar with black wheels, then use the left arm for the wooden basket with curved handle.",
+    "Place the bright blue toycar with roof buttons into the basket with handle and push the basket with handle slightly away.",
+    "Use the right arm to grab the blue toycar with yellow roof accents, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the left arm.",
+    "Lift the toycar with black wheels, place it into the basket for holding items, move the basket for holding items.",
+    "Set the plastic toycar with smooth finish in the basket with handle, and shift the basket with handle away.",
+    "Pick up the toycar with black wheels, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Grab the blue toycar with yellow roof accents, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the brown basket, slide the brown basket lightly.",
+    "Move the toycar with dark gray windows to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Grab the blue toycar with yellow roof accents, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Place the hand-sized rolling toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Lift the toycar made of plastic material, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick up the toycar with black wheels, put it in the light brown oval basket, shift the light brown oval basket a little."
+  ],
+  "unseen": [
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Move the playable toycar with rolling wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar in the basket with rounded edges and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Move the playable toycar with rolling wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons and drop in the basket with rounded edges.",
+    "Move the playable toycar with rolling wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and put it into the oval basket with medium storage space.",
+    "Pick up the playable toycar with rolling wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playable toycar with rolling wheels and drop in the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar and place into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the blue toycar and drop in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode37.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..1731ed84c82dfeb4e489062d46ef3c2123b46fec
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular blue playingcards case into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Put the rectangular blue playingcards case in the basket for holding items, then move the basket for holding items away slightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the brown basket, shift the brown basket.",
+    "Pick the blue playingcards box, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick the playingcards box with white symbols, place it in the basket for carrying things.",
+    "Grab the small playingcards container, drop it in the brown basket, shift the brown basket.",
+    "Grab the blue carton for playingcards, drop in the woven basket, and move the woven basket.",
+    "Lift the blue carton for playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the basket for holding items, then move the basket for holding items.",
+    "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 carton for playingcards to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Set the smooth playingcards holder in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the blue playingcards box, put it inside the smooth ribbed light brown basket.",
+    "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 up the blue playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick and move the blue carton for playingcards, then shift the basket with handle.",
+    "Grab the blue carton for playingcards and drop it in the oval-shaped basket with woven body.",
+    "Use one arm to place the small playingcards container in the basket with handle, adjust the basket with handle.",
+    "Grab the box of playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick up the blue pack holding playingcards and set it inside the basket made of woven wood.",
+    "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.",
+    "Lift the small playingcards container using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Take the box of playingcards, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Grab the blue carton for playingcards, set it into the woven basket.",
+    "Pick up the playingcards pack with blue top and drop it in the brown basket, then move the brown basket.",
+    "Pick up the box of playingcards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the blue carton for playingcards and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the smooth ribbed light brown basket.",
+    "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 blue carton for playingcards in the basket with handle.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket for holding items.",
+    "Place the blue playingcards box into the basket for holding items and push the basket for holding items slightly away.",
+    "Put the playingcards box with white symbols in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for holding items, shift the basket for holding items.",
+    "Pick the small playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Grab the blue carton for playingcards, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the palm-sized playingcards carton, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the rectangular blue playingcards case, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to grab the blue playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Move the blue and white playingcards packaging to the light brown oval basket, then shift the light brown oval basket.",
+    "Set the rectangular blue playingcards case in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the playingcards pack with blue top, put it inside the basket for holding items.",
+    "Lift the small playingcards container, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick up the small playingcards container, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick and move the playingcards pack with blue top, then shift the brown basket with woven ridges.",
+    "Grab the blue playingcards box and drop it in the brown 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.",
+    "Grab the rectangular blue playingcards case, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the small playingcards container and set it inside the basket with loop handle.",
+    "Use the left arm to grab the blue playingcards box, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the palm-sized playingcards carton using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Take the smooth playingcards holder, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Grab the playingcards pack with blue top, set it into the 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.",
+    "Pick up the blue and white playingcards packaging, put it in the brown basket, shift the brown basket a little.",
+    "Pick the smooth playingcards holder and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Place the smooth playingcards holder in the basket for carrying things, then grab the basket for carrying things.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the brown basket.",
+    "Put the blue playingcards box in the woven basket and pull the woven basket away.",
+    "Use one arm to place the blue carton for playingcards in the brown basket.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the brown basket.",
+    "Place the blue pack holding playingcards into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Put the blue and white playingcards packaging in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Take the blue playingcards box, put the blue playingcards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the playingcards box with white symbols, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle.",
+    "Grab the blue and white playingcards packaging, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the playingcards pack with blue top, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the smooth playingcards holder, place it into the brown basket, move the brown basket.",
+    "Grab the blue carton for playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to grab the box of playingcards, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Move the playingcards pack with blue top to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Set the playingcards pack with blue top in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick the blue pack holding playingcards, put it inside the basket with loop handle.",
+    "Lift the blue pack holding playingcards, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick up the rectangular blue playingcards case, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick and move the smooth playingcards holder, then shift the woven basket.",
+    "Grab the palm-sized playingcards carton and drop it in the basket made of woven wood.",
+    "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.",
+    "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.",
+    "Pick up the small playingcards container and set it inside the smooth ribbed light brown basket.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the palm-sized playingcards carton, set it into the smooth ribbed light brown basket.",
+    "Pick up the blue playingcards box and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the small playingcards container, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the rectangular blue playingcards case and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the blue carton for playingcards, drop the blue carton for playingcards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Place the small playingcards container in the basket with handle, then grab the basket with handle.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the brown basket.",
+    "Put the card box with golden designs in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Use one arm to place the rectangular blue playingcards case in the basket made of woven wood.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the brown basket.",
+    "Place the small playingcards container into the basket made of woven wood and push the basket made of woven wood slightly away."
+  ],
+  "unseen": [
+    "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.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "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 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 basket with rounded edges, move 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.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the 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 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 basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop 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 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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the 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 pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the 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 rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the 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.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, 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 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.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the rectangular playingcards 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 oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "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.",
+    "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 pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Place the 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.",
+    "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 oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the 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, 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 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode38.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..30cf55267478f7caa74b57e7d8d251f199bd2b7b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the rectangular basket with smooth surface.",
+    "Grab the black playing cards box, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use one arm to grab the smooth black cards container, place it in the yellow basket, then move the yellow basket.",
+    "Pick the box with cards inside, drop the box with cards inside in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Use one arm to place the rectangular box for card storage in the yellow basket for carrying stuff.",
+    "Use the left arm to grab the black playing cards box, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Grab the cardboard playing cards box, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Grab the cardboard playing cards box, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick the box holding playing cards, place it in the handheld basket.",
+    "Put the compact box for playing cards in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Lift the small black box with cards using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Set the black box with rectangular shape in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick the compact box for playing cards, put it inside the plastic basket.",
+    "Use one arm to place the rectangular box for card storage in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Place the small black box with cards into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the box holding playing cards with one arm, drop the box holding playing cards in the plastic basket.",
+    "Grab the small black box with cards and drop it in the medium yellow basket with slots.",
+    "Grab the palm-sized box for playing cards, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the palm-sized box for playing cards, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Put the black playing cards box in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Move the rectangular box for card storage to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the playing cards box with gold text and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Lift the playing cards box with gold text, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Take the black box with rectangular shape, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick and move the rectangle-shaped cards box, then shift the rectangular basket with smooth surface.",
+    "Place the palm-sized box for playing cards in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the cardboard playing cards box and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the smooth black cards container and set it inside the medium yellow basket with slots.",
+    "Take the small black box with cards, put the small black box with cards into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the cardboard playing cards box, set it into the basket with black handle.",
+    "Lift the cardboard playing cards box, place it into the yellow basket for carrying stuff, move the yellow basket for carrying stuff.",
+    "Pick up the rectangle-shaped cards box, place it in the plastic basket, grab the plastic basket.",
+    "Pick up the palm-sized box for playing cards, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Use the left arm to pick the box holding playing cards, then use the right arm for the handheld basket.",
+    "Grab the black box with rectangular shape, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use one arm to grab the palm-sized box for playing cards, place it in the basket with black handle, then move the basket with black handle.",
+    "Pick the rectangle-shaped cards box, drop the rectangle-shaped cards box in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Use one arm to place the box holding playing cards in the carrying basket with black plastic handle.",
+    "Use the left arm to grab the compact box for playing cards, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Grab the playing cards box with gold text, drop in the plastic basket, and move the plastic basket.",
+    "Grab the rectangular box for card storage, drop it in the yellow basket, shift the yellow basket.",
+    "Pick the black box with rectangular shape, place it in the basket with arched black grip.",
+    "Put the box holding playing cards in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Lift the black playing cards box using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Set the smooth black cards container in the plastic basket, and shift the plastic basket away.",
+    "Pick the black playing cards box, put it inside the basket with black handle.",
+    "Use one arm to place the black box with rectangular shape in the bright yellow basket, adjust the bright yellow basket.",
+    "Place the smooth black cards container into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the yellow basket.",
+    "Grab the small black box with cards and drop it in the yellow basket for carrying stuff.",
+    "Grab the box with cards inside, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the palm-sized box for playing cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the box with cards inside in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Move the playing cards box with gold text to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Pick the rectangle-shaped cards box and position it in the plastic basket, move the plastic basket slightly.",
+    "Lift the rectangle-shaped cards box, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Take the playing cards box with gold text, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick and move the box holding playing cards, then shift the yellow basket.",
+    "Place the black playing cards box in the yellow basket, then grab the yellow basket.",
+    "Pick up the cardboard playing cards box and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick up the black playing cards box and set it inside the rectangular yellow basket.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the basket with black handle, shift the basket with black handle.",
+    "Grab the compact box for playing cards, set it into the rectangular yellow basket.",
+    "Lift the black playing cards box, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Pick up the small black box with cards, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick up the rectangle-shaped cards box, put it in the handheld basket, shift the handheld basket a little.",
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the handheld basket.",
+    "Grab the palm-sized box for playing cards, place it in the basket with black handle, then move the basket with black handle away.",
+    "Use one arm to grab the black playing cards box, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the black box with rectangular shape, drop the black box with rectangular shape in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Use one arm to place the smooth black cards container in the basket with perforated sides.",
+    "Use the left arm to grab the compact box for playing cards, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the right arm.",
+    "Grab the smooth black cards container, drop in the handheld basket, and move the handheld basket.",
+    "Grab the cardboard playing cards box, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick the black box with rectangular shape, place it in the bright yellow basket.",
+    "Put the box with cards inside in the plastic basket, then move the plastic basket away slightly.",
+    "Lift the smooth black cards container using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Set the box holding playing cards in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Pick the smooth black cards container, put it inside the plastic basket.",
+    "Use one arm to place the palm-sized box for playing cards in the handheld basket, adjust the handheld basket.",
+    "Place the palm-sized box for playing cards into the basket with black handle and push the basket with black handle slightly away.",
+    "Grab the black box with rectangular shape with one arm, drop the black box with rectangular shape in the basket with perforated sides.",
+    "Grab the playing cards box with gold text and drop it in the medium yellow basket with slots.",
+    "Grab the small black box with cards, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the palm-sized box for playing cards, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the palm-sized box for playing cards in the yellow basket and pull the yellow basket away.",
+    "Move the box with cards inside to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the black playing cards box and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Lift the small black box with cards, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Take the small black box with cards, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Pick and move the compact box for playing cards, then shift the bright yellow basket.",
+    "Place the rectangular box for card storage in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Pick up the small black box with cards and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the smooth black cards container and set it inside the basket with arched black grip.",
+    "Take the black playing cards box, put the black playing cards box into the bright yellow basket, shift the bright yellow basket.",
+    "Grab the smooth black cards container, set it into the handheld basket.",
+    "Lift the box holding playing cards, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Pick up the small black box with cards, place it in the handheld basket, grab the handheld basket.",
+    "Pick up the box holding playing cards, put it in the yellow basket, shift the yellow basket a little.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the bright yellow basket."
+  ],
+  "unseen": [
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode39.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f5aac695e2dd3fe07f6c17dcb0b47b038049d76
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the box holding playing cards in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Put the box holding playing cards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Pick the black box with rectangular shape and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick up the box with cards inside and set it inside the smooth ribbed light brown basket.",
+    "Grab the small black box with cards and drop it in the light brown oval basket.",
+    "Lift the rectangular box for card storage, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Put the rectangular box for card storage in the light brown oval basket and pull the light brown oval basket away.",
+    "Lift the smooth black cards container using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the smooth black cards container, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick up the black box with rectangular shape and drop it in the woven basket, then move the woven basket.",
+    "Pick up the black box with rectangular shape, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Use one arm to grab the box holding playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the smooth black cards container with one arm, drop the smooth black cards container in the basket for carrying things.",
+    "Place the rectangle-shaped cards box into the brown basket and push the brown basket slightly away.",
+    "Place the black playing cards box in the light brown oval basket, then grab the light brown oval basket.",
+    "Take the playing cards box with gold text, put the playing cards box with gold text into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the palm-sized box for playing cards in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the playing cards box with gold text, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the compact box for playing cards, put it inside the woven basket.",
+    "Pick the small black box with cards, place it in the woven basket.",
+    "Pick and move the box holding playing cards, then shift the basket made of woven wood.",
+    "Grab the palm-sized box for playing cards, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Grab the smooth black cards container, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Take the small black box with cards, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the small black box with cards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Grab the cardboard playing cards box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to grab the smooth black cards container, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the compact box for playing cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use the left arm to pick the small black box with cards, then use the right arm for the oval-shaped basket with woven body.",
+    "Move the small black box with cards to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the small black box with cards, set it into the light brown oval basket.",
+    "Use one arm to place the small black box with cards in the smooth ribbed light brown basket.",
+    "Set the rectangle-shaped cards box in the brown basket, and shift the brown basket away.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Put the rectangular box for card storage in the woven basket, then move the woven basket away slightly.",
+    "Pick the rectangular box for card storage and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick up the small black box with cards and set it inside the light brown oval basket.",
+    "Grab the black box with rectangular shape and drop it in the light brown oval basket.",
+    "Lift the black box with rectangular shape, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Put the rectangle-shaped cards box in the woven basket and pull the woven basket away.",
+    "Lift the black box with rectangular shape 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.",
+    "Lift the smooth black cards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the playing cards box with gold text and drop it in the woven basket, then move the woven basket.",
+    "Pick up the rectangular box for card storage, place it in the woven basket, grab the woven basket.",
+    "Use one arm to grab the rectangular box for card storage, place it in the brown basket, then move the brown basket.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the brown basket with woven ridges.",
+    "Place the cardboard playing cards box into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Place the palm-sized box for playing cards in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Take the black playing cards box, put the black playing cards box into the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the box holding playing cards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the small black box with cards, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the compact box for playing cards, put it inside the basket made of woven wood.",
+    "Pick the compact box for playing cards, place it in the light brown oval basket.",
+    "Pick and move the box holding playing cards, then shift the wooden basket with curved handle.",
+    "Grab the rectangle-shaped cards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the black box with rectangular shape, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Take the box holding playing cards, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick up the black playing cards box, put it in the woven basket, shift the woven basket a little.",
+    "Grab the box with cards inside, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use the left arm to grab the smooth black cards container, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the cardboard playing cards box, place it in the basket for holding items, then move the basket for holding items away.",
+    "Use the left arm to pick the rectangular box for card storage, then use the right arm for the basket for holding items.",
+    "Move the black box with rectangular shape to the basket for carrying things, then shift the basket for carrying things.",
+    "Grab the cardboard playing cards box, set it into the brown basket.",
+    "Use one arm to place the box with cards inside in the wooden basket with curved handle.",
+    "Set the black playing cards box in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the playing cards box with gold text, drop the playing cards box with gold text in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Put the smooth black cards container in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Pick the small black box with cards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the box holding playing cards and set it inside the wooden basket with curved handle.",
+    "Grab the rectangular box for card storage and drop it in the basket with handle.",
+    "Lift the smooth black cards container, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Put the cardboard playing cards box in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Lift the playing cards box with gold text using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Lift the black box with rectangular shape, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the playing cards box with gold text and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the playing cards box with gold text, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Use one arm to grab the compact box for playing cards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the smooth black cards container with one arm, drop the smooth black cards container in the woven basket.",
+    "Place the compact box for playing cards into the basket with handle and push the basket with handle slightly away.",
+    "Place the rectangular box for card storage in the light brown oval basket, then grab the light brown oval basket.",
+    "Take the smooth black cards container, put the smooth black cards container into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the black playing cards box in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the playing cards box with gold text, place it in the woven basket, shift the woven basket.",
+    "Pick the rectangular box for card storage, put it inside the brown basket.",
+    "Pick the box with cards inside, place it in the brown basket with woven ridges.",
+    "Pick and move the black playing cards box, then shift the light brown oval basket.",
+    "Grab the rectangular box for card storage, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the palm-sized box for playing cards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Take the box with cards inside, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the compact box for playing cards, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Grab the compact box for playing cards, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the left arm to grab the palm-sized box for playing cards, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Grab the small black box with cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the smooth ribbed light brown basket.",
+    "Move the box with cards inside to the light brown oval basket, then shift the light brown oval basket.",
+    "Grab the palm-sized box for playing cards, set it into the oval-shaped basket with woven body.",
+    "Use one arm to place the cardboard playing cards box in the basket with handle.",
+    "Set the palm-sized box for playing cards in the basket made of woven wood, and shift the basket made of woven wood away."
+  ],
+  "unseen": [
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and put it into the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the gold text on playing cards box in the oval basket with medium storage space and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Grab the gold text on playing cards box and put it into the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode4.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..989987f5791487e604d9491798b9d392f68e99e6
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bright sleek toycar to the light brown oval basket, then shift the light brown oval basket.",
+    "Use one arm to place the toycar with smooth texture in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick and move the toycar with shiny plastic finish, then shift the basket with handle.",
+    "Pick up the palm-sized blue toycar and set it inside the basket for carrying things.",
+    "Take the bright sleek toycar, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Grab the toycar with black tires, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the toycar with shiny wheels in the woven basket.",
+    "Use the right arm to pick the blue and gray toycar, then use the left arm for the wooden basket with curved handle.",
+    "Pick the small plastic toycar, put it inside the brown basket.",
+    "Grab the toycar with transparent windshield, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the blue and gray toycar, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the toycar with shiny wheels, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Place the toycar with black tires into the basket with handle and push the basket with handle slightly away.",
+    "Lift the toycar with smooth texture, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket for carrying things.",
+    "Grab the toycar with smooth texture and drop it in the brown basket.",
+    "Set the toycar with shiny wheels in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the palm-sized blue toycar, set it into the oval-shaped basket with woven body.",
+    "Put the blue top toycar in the brown basket and pull the brown basket away.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick the toycar with black tires, place it in the woven basket.",
+    "Lift the toycar for kids play, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick the small plastic toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the blue toycar, drop it in the brown basket, shift the brown basket.",
+    "Use the right arm to grab the blue top toycar, place it in the brown basket, and move the brown basket using the left arm.",
+    "Put the toycar for kids play in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Lift the blue top toycar using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick up the blue toycar and drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the toycar with transparent windshield, put the toycar with transparent windshield into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the blue top toycar in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick up the palm-sized blue toycar, put it in the brown basket, shift the brown basket a little.",
+    "Pick the toycar for kids play, place it in the basket with handle, shift the basket with handle.",
+    "Move the toycar with black tires to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Use one arm to place the toycar with black tires in the basket for holding items, adjust the basket for holding items.",
+    "Pick and move the blue top toycar, then shift the basket for carrying things.",
+    "Pick up the toycar with shiny wheels and set it inside the oval-shaped basket with woven body.",
+    "Take the toycar for kids play, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the toycar with transparent windshield, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the toycar with black tires in the oval-shaped basket with woven body.",
+    "Use the right arm to pick the blue top toycar, then use the left arm for the basket with handle.",
+    "Pick the toycar with black tires, put it inside the basket for holding items.",
+    "Grab the toycar with smooth texture, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the blue and gray toycar, place it in the basket for holding items, grab the basket for holding items.",
+    "Grab the small plastic toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Place the toycar with shiny plastic finish into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Lift the small plastic toycar, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the basket for holding items.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Set the blue top toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue top toycar, set it into the basket for holding items.",
+    "Put the palm-sized blue toycar in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick the blue toycar, drop the blue toycar in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Pick the blue toycar, place it in the basket for holding items.",
+    "Lift the blue top toycar, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Use one arm to grab the small plastic toycar, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the toycar with shiny wheels and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Grab the small plastic toycar, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Use the right arm to grab the toycar with shiny plastic finish, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Put the toycar with transparent windshield in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Lift the toycar with shiny wheels using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Pick up the palm-sized blue toycar and drop it in the brown basket, then move the brown basket.",
+    "Take the toycar with smooth texture, put the toycar with smooth texture into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the toycar for kids play in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the blue and gray toycar, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the toycar with shiny plastic finish, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Move the toycar with shiny plastic finish to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use one arm to place the toycar with smooth texture in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick and move the toycar with shiny plastic finish, then shift the brown basket with woven ridges.",
+    "Pick up the blue toycar and set it inside the wooden basket with curved handle.",
+    "Take the blue top toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the blue and gray toycar, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the blue toycar in the basket with handle.",
+    "Use the right arm to pick the small plastic toycar, then use the left arm for the basket for carrying things.",
+    "Pick the toycar with shiny plastic finish, put it inside the wooden basket with curved handle.",
+    "Grab the toycar with smooth texture, place it in the brown basket, then move the brown basket away.",
+    "Pick up the toycar with transparent windshield, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the blue toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Place the toycar with transparent windshield into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Lift the bright sleek toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the basket with loop handle.",
+    "Grab the toycar for kids play and drop it in the basket with loop handle.",
+    "Set the bright sleek toycar in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue top toycar, set it into the basket made of woven wood.",
+    "Put the blue top toycar in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick the blue top toycar, place it in the basket with handle.",
+    "Lift the small plastic toycar, place it into the basket for carrying things, move the basket for carrying things.",
+    "Use one arm to grab the toycar with shiny wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the blue and gray toycar and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Grab the bright sleek toycar, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Use the right arm to grab the toycar for kids play, place it in the woven basket, and move the woven basket using the left arm.",
+    "Put the toycar with shiny wheels in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the toycar with smooth texture using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick up the bright sleek toycar and drop it in the brown basket, then move the brown basket.",
+    "Take the toycar with shiny wheels, put the toycar with shiny wheels into the basket with loop handle, shift the basket with loop handle.",
+    "Place the toycar with shiny wheels in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the bright sleek toycar, put it in the brown basket, shift the brown basket a little.",
+    "Pick the palm-sized blue toycar, place it in the brown basket, shift the brown basket.",
+    "Move the toycar with smooth texture to the brown basket with woven ridges, then shift the brown basket with woven ridges."
+  ],
+  "unseen": [
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode40.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e5bd186e1cea26a924e23eabe28093004221596
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the palm-sized blue toycar in the medium yellow basket with slots.",
+    "Move the toycar with shiny plastic finish to the plastic basket, then shift the plastic basket.",
+    "Grab the palm-sized blue toycar and drop it in the yellow basket.",
+    "Lift the blue toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the toycar with shiny wheels and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the palm-sized blue toycar, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the blue toycar, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Pick the toycar with smooth texture, put it inside the plastic basket.",
+    "Grab the toycar with smooth texture, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with shiny wheels and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the toycar with shiny wheels, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick and move the blue toycar, then shift the bright yellow basket.",
+    "Lift the toycar with shiny plastic finish, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Pick the toycar with black tires, place it in the plastic basket.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the medium yellow basket with slots.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the palm-sized blue toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Set the bright sleek toycar in the basket with black handle, and shift the basket with black handle away.",
+    "Use the left arm to grab the bright sleek toycar, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Put the toycar with black tires in the plastic basket and pull the plastic basket away.",
+    "Lift the blue and gray toycar using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Put the blue top toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Take the blue toycar, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Take the toycar with shiny plastic finish, put the toycar with shiny plastic finish into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket with perforated sides.",
+    "Grab the palm-sized blue toycar, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the bright sleek toycar and set it inside the yellow basket for carrying stuff.",
+    "Place the toycar with shiny plastic finish into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Use one arm to place the toycar for kids play in the plastic basket, adjust the plastic basket.",
+    "Place the blue and gray toycar in the basket with black handle, then grab the basket with black handle.",
+    "Pick up the palm-sized blue toycar, put it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff a little.",
+    "Grab the palm-sized blue toycar, set it into the bright yellow basket.",
+    "Use one arm to place the toycar with black tires in the basket with perforated sides.",
+    "Move the toycar with black tires to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Grab the blue toycar and drop it in the yellow basket.",
+    "Lift the blue top toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the bright sleek toycar and position it in the basket with black handle, move the basket with black handle slightly.",
+    "Grab the toycar with black tires, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the toycar with transparent windshield, drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the toycar with black tires, put it inside the basket with black handle.",
+    "Grab the toycar for kids play, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the toycar with transparent windshield and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with smooth texture, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick and move the toycar with shiny wheels, then shift the rectangular basket with smooth surface.",
+    "Lift the bright sleek toycar, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the toycar with transparent windshield, place it in the basket with perforated sides.",
+    "Use the left arm to pick the palm-sized blue toycar, then use the right arm for the medium yellow basket with slots.",
+    "Use one arm to grab the blue top toycar, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the blue top toycar, place it in the plastic basket, grab the plastic basket.",
+    "Set the palm-sized blue toycar in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Use the left arm to grab the bright sleek toycar, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Put the small plastic toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Lift the blue top toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Put the toycar with transparent windshield in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Take the toycar with smooth texture, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the toycar with shiny plastic finish, drop the toycar with shiny plastic finish in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the basket with perforated sides.",
+    "Grab the blue top toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick up the blue toycar and set it inside the rectangular yellow basket.",
+    "Place the toycar with black tires into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Use one arm to place the bright sleek toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Place the palm-sized blue toycar in the bright yellow basket, then grab the bright yellow basket.",
+    "Pick up the small plastic toycar, put it in the basket with black handle, shift the basket with black handle a little.",
+    "Grab the small plastic toycar, set it into the handheld basket.",
+    "Use one arm to place the bright sleek toycar in the rectangular yellow basket.",
+    "Move the toycar with black tires to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the toycar with shiny wheels and drop it in the rectangular basket with smooth surface.",
+    "Lift the bright sleek toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the small plastic toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Grab the blue top toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Grab the toycar with shiny plastic finish, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the toycar with shiny wheels, put it inside the basket with black handle.",
+    "Grab the toycar with transparent windshield, drop it in the handheld basket, shift the handheld basket.",
+    "Pick up the toycar with transparent windshield and drop it in the plastic basket, then move the plastic basket.",
+    "Pick the bright sleek toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick and move the toycar for kids play, then shift the basket with arched black grip.",
+    "Lift the toycar with black tires, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick the palm-sized blue toycar, place it in the medium yellow basket with slots.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket with arched black grip.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the bright sleek toycar, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Set the blue and gray toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Use the left arm to grab the palm-sized blue toycar, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Put the toycar with shiny plastic finish in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Lift the toycar for kids play using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Put the toycar for kids play in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Take the palm-sized blue toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the blue and gray toycar, drop the blue and gray toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Grab the toycar with transparent windshield with one arm, drop the toycar with transparent windshield in the basket with arched black grip.",
+    "Grab the toycar with smooth texture, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick up the bright sleek toycar and set it inside the basket with arched black grip.",
+    "Place the toycar with transparent windshield into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Use one arm to place the toycar with shiny plastic finish in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Place the bright sleek toycar in the yellow basket, then grab the yellow basket.",
+    "Pick up the toycar with black tires, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the toycar for kids play, set it into the handheld basket.",
+    "Use one arm to place the toycar with transparent windshield in the basket with perforated sides."
+  ],
+  "unseen": [
+    "Grab the gray base toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the compact toycar with rotating wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the gray base toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with rounded body and place into the medium-sized basket with perforated texture.",
+    "Place the compact toycar with rotating wheels in the yellow basket with open slots and move it.",
+    "Move the toycar with rounded body to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gray base toycar and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow basket with open slots.",
+    "Grab the gray base toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with rounded body to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar and place into the yellow basket with open slots.",
+    "Place the compact toycar with rotating wheels in the yellow basket with open slots and move it.",
+    "Move the compact toycar with rotating wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow basket with open slots.",
+    "Grab the gray base toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with rounded body to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow basket with open slots.",
+    "Pick up the gray base toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the gray base toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and place into the yellow basket with open slots.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gray base toycar and drop in the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it in the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow basket with open slots.",
+    "Pick up the toycar with rounded body, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and put it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and put it into the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and place into the medium-sized basket with perforated texture.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the compact toycar with rotating wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and place into the yellow basket with open slots.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the compact toycar with rotating wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar and put it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode41.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18f124ba43eff67f3faeeb0c223cd0bce85e8dc
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the toycar with smooth texture, place it in the brown basket, grab the brown basket.",
+    "Pick and move the toycar with smooth texture, then shift the brown basket with woven ridges.",
+    "Move the blue toycar to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use the left arm to pick the toycar with shiny plastic finish, then use the right arm for the oval-shaped basket with woven body.",
+    "Put the toycar with shiny wheels in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick up the toycar with transparent windshield, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the toycar with shiny wheels, place it in the brown basket, then move the brown basket away.",
+    "Pick up the small plastic toycar and set it inside the brown basket.",
+    "Take the blue top toycar, put the blue top toycar into the light brown oval basket, shift the light brown oval basket.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Set the toycar for kids play in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Put the blue toycar in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the toycar with shiny plastic finish and drop it in the smooth ribbed light brown basket.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the woven basket.",
+    "Pick the palm-sized blue toycar, place it in the light brown oval basket.",
+    "Take the blue and gray toycar, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Grab the toycar with shiny wheels, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the blue toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the bright sleek toycar into the woven basket and push the woven basket slightly away.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the woven basket, then move the woven basket.",
+    "Use one arm to place the blue toycar in the basket for holding items.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Lift the toycar with smooth texture, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick the toycar with black tires 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 toycar with smooth texture, place it in the woven basket, and move the woven basket using the right arm.",
+    "Grab the toycar with smooth texture, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the toycar for kids play, set it into the basket made of woven wood.",
+    "Place the toycar with black tires in the basket with handle, then grab the basket with handle.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Lift the small plastic toycar, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the bright sleek toycar, put it inside the brown basket.",
+    "Pick up the toycar with smooth texture and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish, place it in the woven basket, grab the woven basket.",
+    "Pick and move the palm-sized blue toycar, then shift the wooden basket with curved handle.",
+    "Move the toycar for kids play to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the basket made of woven wood.",
+    "Put the toycar for kids play in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the toycar with shiny plastic finish, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the toycar with shiny plastic finish, place it in the woven basket, then move the woven basket away.",
+    "Pick up the toycar with shiny plastic finish and set it inside the basket with loop handle.",
+    "Take the toycar with shiny wheels, put the toycar with shiny wheels into the woven basket, shift the woven basket.",
+    "Grab the toycar with shiny plastic finish, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Set the toycar with black tires in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Put the small plastic toycar in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the toycar for kids play and drop it in the brown basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the basket with loop handle.",
+    "Pick the blue and gray toycar, place it in the smooth ribbed light brown basket.",
+    "Take the toycar with smooth texture, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the blue and gray toycar, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick the blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the blue top toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Use one arm to grab the blue toycar, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use one arm to place the toycar with smooth texture in the basket for holding items.",
+    "Lift the small plastic toycar 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.",
+    "Lift the toycar with shiny plastic finish, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick the small plastic toycar and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Use the left arm to grab the blue top toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Grab the toycar with shiny wheels, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the small plastic toycar, drop the small plastic toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the small plastic toycar, set it into the oval-shaped basket with woven body.",
+    "Place the toycar with shiny plastic finish in the brown basket, then grab the brown basket.",
+    "Use one arm to place the palm-sized blue toycar in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Lift the toycar with black tires, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick the blue top toycar, put it inside the brown basket.",
+    "Pick up the toycar with transparent windshield and drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the blue and gray toycar, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick and move the blue toycar, then shift the basket with loop handle.",
+    "Move the palm-sized blue toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use the left arm to pick the small plastic toycar, then use the right arm for the light brown oval basket.",
+    "Put the blue and gray toycar in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick up the bright sleek toycar, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Grab the blue top toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Pick up the small plastic toycar and set it inside the basket made of woven wood.",
+    "Take the toycar with shiny plastic finish, put the toycar with shiny plastic finish into the woven basket, shift the woven basket.",
+    "Grab the bright sleek toycar, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Set the small plastic toycar in the brown basket, and shift the brown basket away.",
+    "Put the palm-sized blue toycar in the woven basket, then move the woven basket away slightly.",
+    "Grab the bright sleek toycar and drop it in the basket with loop handle.",
+    "Grab the bright sleek toycar with one arm, drop the bright sleek toycar in the smooth ribbed light brown basket.",
+    "Pick the toycar with smooth texture, place it in the light brown oval basket.",
+    "Take the blue and gray toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Grab the blue top toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Pick the palm-sized blue toycar, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the palm-sized blue toycar into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Use one arm to grab the blue top toycar, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Use one arm to place the toycar with smooth texture in the basket made of woven wood.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Lift the toycar with black tires, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick the toycar with shiny plastic finish and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to grab the blue top toycar, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the toycar with smooth texture, drop in the woven basket, and move the woven basket.",
+    "Pick the blue toycar, drop the blue toycar in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the blue toycar, set it into the basket for carrying things.",
+    "Place the toycar with shiny wheels in the light brown oval basket, then grab the light brown oval basket.",
+    "Use one arm to place the toycar with transparent windshield in the basket for holding items, adjust the basket for holding items.",
+    "Lift the blue toycar, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick the toycar with shiny plastic finish, put it inside the basket with loop handle.",
+    "Pick up the blue top toycar and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick up the toycar with shiny wheels, place it in the woven basket, grab the woven basket."
+  ],
+  "unseen": [
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it into the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode42.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c20edd3358edc510f8c67933edcdfff2c09b31
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the toycar with black and orange wheels in the bright yellow basket.",
+    "Grab the toycar for kids, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the lightweight toycar, place it in the plastic basket, then move the plastic basket away.",
+    "Put the glossy blue toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Take the toycar with black and orange wheels, put the toycar with black and orange wheels into the handheld basket, shift the handheld basket.",
+    "Grab the lightweight toycar and drop it in the bright yellow basket.",
+    "Grab the lightweight toycar with one arm, drop the lightweight toycar in the rectangular basket with smooth surface.",
+    "Place the small blue car-shaped toycar in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick the toycar with smiling face design and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Use the right arm to pick the small toycar, then use the left arm for the handheld basket.",
+    "Move the palm-sized plastic toycar to the plastic basket, then shift the plastic basket.",
+    "Grab the small toycar, drop in the plastic basket, and move the plastic basket.",
+    "Pick the toycar for kids, place it in the rectangular basket with smooth surface.",
+    "Set the lightweight toycar in the bright yellow basket, and shift the bright yellow basket away.",
+    "Use the right arm to grab the glossy blue toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Take the toycar with black and orange wheels, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the toycar with black and orange wheels, put it inside the rectangular basket with smooth surface.",
+    "Use one arm to place the glossy blue toycar in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Pick and move the toycar with black and orange wheels, then shift the medium yellow basket with slots.",
+    "Grab the toycar for kids, set it into the basket with black handle.",
+    "Lift the small blue car-shaped toycar using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Pick up the lightweight toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick up the palm-sized plastic toycar and set it inside the basket with black handle.",
+    "Pick the small blue car-shaped toycar, drop the small blue car-shaped toycar in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Lift the lightweight toycar, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Pick up the lightweight toycar and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the palm-sized plastic toycar, place it in the yellow basket, shift the yellow basket.",
+    "Grab the palm-sized plastic toycar, drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to grab the bright blue toycar, place it in the yellow basket, then move the yellow basket.",
+    "Lift the toycar with smiling face design, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Put the bright blue toycar in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Place the glossy blue toycar into the plastic basket and push the plastic basket slightly away.",
+    "Pick up the plastic toycar, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Use one arm to place the small toycar in the rectangular yellow basket.",
+    "Grab the toycar for kids, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the blue toycar with white windows, place it in the plastic basket, then move the plastic basket away.",
+    "Put the small blue car-shaped toycar in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Take the toycar with rounded edges, put the toycar with rounded edges into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the glossy blue toycar and drop it in the medium yellow basket with slots.",
+    "Grab the blue toycar with white windows with one arm, drop the blue toycar with white windows in the carrying basket with black plastic handle.",
+    "Place the small blue car-shaped toycar in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick the glossy blue toycar and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Use the right arm to pick the bright blue toycar, then use the left arm for the rectangular yellow basket.",
+    "Move the lightweight toycar to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the toycar with black and orange wheels, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff.",
+    "Pick the toycar for kids, place it in the basket with black handle.",
+    "Set the blue toycar with white windows in the handheld basket, and shift the handheld basket away.",
+    "Use the right arm to grab the glossy blue toycar, place it in the basket with perforated sides, and move the basket with perforated sides using the left arm.",
+    "Take the lightweight toycar, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick the blue toycar with white windows, put it inside the basket with arched black grip.",
+    "Use one arm to place the glossy blue toycar in the plastic basket, adjust the plastic basket.",
+    "Pick and move the toycar with rounded edges, then shift the yellow basket for carrying stuff.",
+    "Grab the toycar for kids, set it into the rectangular yellow basket.",
+    "Lift the plastic toycar using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Pick up the glossy blue toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick up the glossy blue toycar and set it inside the plastic basket.",
+    "Pick the bright blue toycar, drop the bright blue toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the bright blue toycar, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick up the small blue car-shaped toycar and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the toycar with smiling face design, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the lightweight toycar, drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use one arm to grab the blue toycar with white windows, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the toycar with rounded edges, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Put the plastic toycar in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Place the plastic toycar into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Pick up the toycar with black and orange wheels, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Use one arm to place the small toycar in the basket with perforated sides.",
+    "Grab the plastic toycar, drop it in the basket with black handle, shift the basket with black handle.",
+    "Grab the toycar with rounded edges, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Put the small toycar in the plastic basket and pull the plastic basket away.",
+    "Take the small toycar, put the small toycar into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the glossy blue toycar and drop it in the yellow basket for carrying stuff.",
+    "Grab the palm-sized plastic toycar with one arm, drop the palm-sized plastic toycar in the bright yellow basket.",
+    "Place the blue toycar with white windows in the yellow basket, then grab the yellow basket.",
+    "Pick the toycar with smiling face design and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Use the right arm to pick the small toycar, then use the left arm for the yellow basket.",
+    "Move the small blue car-shaped toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the toycar with rounded edges, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick the plastic toycar, place it in the basket with perforated sides.",
+    "Set the toycar with black and orange wheels in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use the right arm to grab the lightweight toycar, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the left arm.",
+    "Take the bright blue toycar, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Pick the toycar with smiling face design, put it inside the yellow basket.",
+    "Use one arm to place the toycar with black and orange wheels in the basket with black handle, adjust the basket with black handle.",
+    "Pick and move the bright blue toycar, then shift the handheld basket.",
+    "Grab the toycar with smiling face design, set it into the basket with black handle.",
+    "Lift the blue toycar with white windows using the right arm, drop it in the plastic basket, then push the plastic basket via the left arm.",
+    "Pick up the glossy blue toycar, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Pick up the toycar with black and orange wheels and set it inside the bright yellow basket.",
+    "Pick the toycar for kids, drop the toycar for kids in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Lift the toycar with smiling face design, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick up the toycar for kids and drop it in the yellow basket, then move the yellow basket.",
+    "Pick the small blue car-shaped toycar, place it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the lightweight toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Use one arm to grab the toycar with black and orange wheels, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the lightweight toycar, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Put the blue toycar with white windows in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Place the palm-sized plastic toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick up the toycar with smiling face design, put it in the plastic basket, shift the plastic basket a little.",
+    "Use one arm to place the toycar with rounded edges in the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with smooth finish to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the toycar with smooth finish to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels and drop in the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the yellow basket with open slots and move it.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it in the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with smooth finish to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode43.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7747fc61b04c1dc864d42ec2c04c02fadc4309b
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black playing cards box, put the black playing cards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the black playing cards box into the woven basket and push the woven basket slightly away.",
+    "Grab the cardboard playing cards box, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the small black box with cards with one arm, drop the small black box with cards in the basket for carrying things.",
+    "Pick the black playing cards box, put it inside the basket with handle.",
+    "Put the black playing cards box in the basket with handle and pull the basket with handle away.",
+    "Grab the palm-sized box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Move the black box with rectangular shape to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use one arm to place the compact box for playing cards in the basket for carrying things.",
+    "Set the palm-sized box for playing cards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the box holding playing cards, set it into the basket for carrying things.",
+    "Pick and move the compact box for playing cards, then shift the basket with loop handle.",
+    "Place the compact box for playing cards in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Lift the box with cards inside using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Pick up the rectangle-shaped cards box, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Use one arm to place the cardboard playing cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the basket with loop handle.",
+    "Lift the playing cards box with gold text, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the playing cards box with gold text, place it in the basket with loop handle.",
+    "Pick the rectangle-shaped cards box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Use one arm to grab the black box with rectangular shape, place it in the woven basket, then move the woven basket.",
+    "Pick the rectangular box for card storage, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the playing cards box with gold text, place it into the woven basket, move the woven basket.",
+    "Pick the black playing cards box, drop the black playing cards box in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Use the right arm to grab the box with cards inside, place it in the brown basket, and move the brown basket using the left arm.",
+    "Grab the rectangle-shaped cards box and drop it in the woven basket.",
+    "Grab the black box with rectangular shape, drop it in the brown basket, shift the brown basket.",
+    "Take the cardboard playing cards box, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the small black box with cards and set it inside the basket with handle.",
+    "Grab the box holding playing cards, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Put the black box with rectangular shape in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Pick up the compact box for playing cards and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the playing cards box with gold text, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Take the smooth black cards container, put the smooth black cards container into the basket for holding items, shift the basket for holding items.",
+    "Place the smooth black cards container into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Grab the playing cards box with gold text, drop in the basket for holding items, and move the basket for holding items.",
+    "Grab the box holding playing cards with one arm, drop the box holding playing cards in the brown basket with woven ridges.",
+    "Pick the smooth black cards container, put it inside the basket for carrying things.",
+    "Put the box with cards inside in the light brown oval basket and pull the light brown oval basket away.",
+    "Grab the small black box with cards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Move the black box with rectangular shape to the woven basket, then shift the woven basket.",
+    "Use one arm to place the rectangular box for card storage in the wooden basket with curved handle.",
+    "Set the black playing cards box in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Grab the playing cards box with gold text, set it into the brown basket.",
+    "Pick and move the black playing cards box, then shift the basket for carrying things.",
+    "Place the rectangular box for card storage in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the small black box with cards using the right arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the left arm.",
+    "Pick up the box holding playing cards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Use one arm to place the cardboard playing cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the smooth black cards container, then use the left arm for the oval-shaped basket with woven body.",
+    "Lift the playing cards box with gold text, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick the smooth black cards container, place it in the basket for carrying things.",
+    "Pick the small black box with cards and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Use one arm to grab the compact box for playing cards, place it in the basket with handle, then move the basket with handle.",
+    "Pick the box with cards inside, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the small black box with cards, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick the black box with rectangular shape, drop the black box with rectangular shape in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Use the right arm to grab the palm-sized box for playing cards, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Grab the rectangular box for card storage and drop it in the basket made of woven wood.",
+    "Grab the black box with rectangular shape, drop it in the basket with handle, shift the basket with handle.",
+    "Take the playing cards box with gold text, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the small black box with cards and set it inside the oval-shaped basket with woven body.",
+    "Grab the compact box for playing cards, drop it in the brown basket, then move the brown basket.",
+    "Put the box holding playing cards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Pick up the palm-sized box for playing cards and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick up the black box with rectangular shape, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Take the rectangular box for card storage, put the rectangular box for card storage into the basket for carrying things, shift the basket for carrying things.",
+    "Place the box with cards inside into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the black box with rectangular shape, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Grab the compact box for playing cards with one arm, drop the compact box for playing cards in the basket for holding items.",
+    "Pick the smooth black cards container, put it inside the oval-shaped basket with woven body.",
+    "Put the playing cards box with gold text in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the compact box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Move the playing cards box with gold text to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Use one arm to place the playing cards box with gold text in the smooth ribbed light brown basket.",
+    "Set the playing cards box with gold text in the light brown oval basket, and shift the light brown oval basket away.",
+    "Grab the box with cards inside, set it into the basket for carrying things.",
+    "Pick and move the small black box with cards, then shift the brown basket with woven ridges.",
+    "Place the black playing cards box in the basket with loop handle, then grab the basket with loop handle.",
+    "Lift the box with cards inside using the right arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the left arm.",
+    "Pick up the black box with rectangular shape, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Use one arm to place the rectangle-shaped cards box in the woven basket, adjust the woven basket.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the basket with handle.",
+    "Lift the box with cards inside, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Pick the box holding playing cards, place it in the basket made of woven wood.",
+    "Pick the cardboard playing cards box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Use one arm to grab the black box with rectangular shape, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the box with cards inside, place it in the basket with handle, shift the basket with handle.",
+    "Lift the palm-sized box for playing cards, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick the box holding playing cards, drop the box holding playing cards in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the left arm.",
+    "Grab the black box with rectangular shape and drop it in the wooden basket with curved handle.",
+    "Grab the rectangle-shaped cards box, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the rectangle-shaped cards box, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the black playing cards box and set it inside the smooth ribbed light brown basket.",
+    "Grab the small black box with cards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the compact box for playing cards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Pick up the smooth black cards container and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the box holding playing cards, place it in the basket with handle, grab the basket with handle.",
+    "Take the small black box with cards, put the small black box with cards into the light brown oval basket, shift the light brown oval basket."
+  ],
+  "unseen": [
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and place into the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the oval basket with medium storage space and move it.",
+    "Grab the black box with smooth surface and place into the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode44.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcb158f230bb6cb4f9771ba7ac0cad3277160bed
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the smooth green toycar, drop the smooth green toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the shiny green toycar, place it in the basket for carrying things.",
+    "Take the green toycar made from plastic, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the small green toycar and drop it in the basket for holding items.",
+    "Place the small green toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the miniature bright green toycar, put it inside the basket with handle.",
+    "Grab the small plastic green toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Put the small plastic green toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the green toycar in the basket with handle.",
+    "Put the small plastic green toycar in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the toycar with black wheels, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the right arm to grab the green toycar made from plastic, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Grab the green toycar made from plastic, set it into the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Lift the tiny green toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use the right arm to pick the toycar with black wheels, then use the left arm for the wooden basket with curved handle.",
+    "Lift the shiny green toycar, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick and move the tiny green toycar, then shift the brown basket.",
+    "Grab the tiny green toycar, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the small plastic green toycar, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Lift the tiny green toycar, place it into the woven basket, move the woven basket.",
+    "Pick up the shiny green toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the tiny green toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Take the green toycar, put the green toycar into the light brown oval basket, shift the light brown oval basket.",
+    "Set the green car-shaped toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the miniature bright green toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use one arm to grab the tiny green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the green toycar made from plastic in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the smooth green toycar to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick the green toycar made from plastic, place it in the brown basket, shift the brown basket.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the basket made of woven wood.",
+    "Place the toycar with black wheels in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the basket with handle, slide the basket with handle lightly.",
+    "Pick the shiny green toycar, place it in the light brown oval basket.",
+    "Take the toycar with black wheels, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the small green toycar and drop it in the oval-shaped basket with woven body.",
+    "Place the toycar with black roof and wheels into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the green toycar, put it inside the brown basket with woven ridges.",
+    "Grab the toycar with black wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Put the shiny green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the playful green toycar in the brown basket.",
+    "Put the small green toycar in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the tiny green toycar, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the playful green toycar, place it in the basket for holding items, and move the basket for holding items using the left arm.",
+    "Grab the small green toycar, set it into the wooden basket with curved handle.",
+    "Pick the small plastic green toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Lift the shiny green toycar using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use the right arm to pick the small plastic green toycar, then use the left arm for the basket for carrying things.",
+    "Lift the miniature bright green toycar, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick and move the small plastic green toycar, then shift the light brown oval basket.",
+    "Grab the shiny green toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Pick up the smooth green toycar, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Lift the tiny green toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the green car-shaped toycar, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the toycar with black wheels, drop in the brown basket, and move the brown basket.",
+    "Take the small plastic green toycar, put the small plastic green toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Set the playful green toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the small green toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar made from plastic and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to grab the green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the toycar with black roof and wheels in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the small green toycar to the basket with handle, then shift the basket with handle.",
+    "Pick the small green toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the miniature bright green toycar with one arm, drop the miniature bright green toycar in the basket for carrying things.",
+    "Place the small plastic green toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic, drop the green toycar made from plastic in the woven basket, slide the woven basket lightly.",
+    "Pick the small plastic green toycar, place it in the basket with loop handle.",
+    "Take the green toycar made from plastic, set it in the basket with handle, shift the basket with handle lightly.",
+    "Grab the smooth green toycar and drop it in the brown basket.",
+    "Place the toycar with black roof and wheels into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Pick the tiny green toycar, put it inside the woven basket.",
+    "Grab the toycar with black roof and wheels, place it in the basket for holding items, then move the basket for holding items away.",
+    "Put the green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the green car-shaped toycar in the basket for holding items.",
+    "Put the green toycar made from plastic in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the toycar with black roof and wheels, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use the right arm to grab the shiny green toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Grab the smooth green toycar, set it into the brown basket.",
+    "Pick the toycar with black roof and wheels and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Lift the green toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use the right arm to pick the green car-shaped toycar, then use the left arm for the smooth ribbed light brown basket.",
+    "Lift the shiny green toycar, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick and move the green toycar made from plastic, then shift the oval-shaped basket with woven body.",
+    "Grab the green toycar made from plastic, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the tiny green toycar, place it in the brown basket, grab the brown basket.",
+    "Lift the tiny green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick up the miniature bright green toycar, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the toycar with black roof and wheels, drop in the basket for holding items, and move the basket for holding items.",
+    "Take the green toycar made from plastic, put the green toycar made from plastic into the light brown oval basket, shift the light brown oval basket.",
+    "Set the toycar with black roof and wheels in the brown basket, and shift the brown basket away.",
+    "Pick up the green car-shaped toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to grab the green toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to place the small plastic green toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Move the miniature bright green toycar to the basket with handle, then shift the basket with handle.",
+    "Pick the playful green toycar, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the basket made of woven wood.",
+    "Place the green toycar in the brown basket, then grab the brown basket.",
+    "Pick the tiny green toycar, drop the tiny green toycar in the brown basket, slide the brown basket lightly."
+  ],
+  "unseen": [
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the plastic toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the basket with rounded edges.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the basket with rounded edges.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode45.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3190f473c7bf3d985b55a5b84b3b6e1e88c497
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the blue playingcards box in the basket with black handle, adjust the basket with black handle.",
+    "Put the blue playingcards box in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Place the blue pack holding playingcards into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the smooth playingcards holder, set it into the medium yellow basket with slots.",
+    "Pick and move the blue playingcards box, then shift the medium yellow basket with slots.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the playingcards box with white symbols, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Grab the blue carton for playingcards and drop it in the plastic basket.",
+    "Pick up the rectangular blue playingcards case, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick up the blue carton for playingcards and set it inside the plastic basket.",
+    "Take the playingcards pack with blue top, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the playingcards box with white symbols, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with arched black grip.",
+    "Set the blue carton for playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the card box with golden designs, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the blue and white playingcards packaging, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Pick the card box with golden designs, place it in the basket with perforated sides.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the palm-sized playingcards carton in the yellow basket.",
+    "Pick the blue playingcards box and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Lift the box of playingcards using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the card box with golden designs, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the plastic basket, slide the plastic basket lightly.",
+    "Pick up the playingcards box with white symbols, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the small playingcards container, put it inside the basket with black handle.",
+    "Take the box of playingcards, put the box of playingcards into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Move the rectangular blue playingcards case to the handheld basket, then shift the handheld basket.",
+    "Put the box of playingcards in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the yellow basket for carrying stuff.",
+    "Place the blue carton for playingcards in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Grab the blue playingcards box, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Put the blue pack holding playingcards in the yellow basket, then move the yellow basket away slightly.",
+    "Place the blue and white playingcards packaging into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Grab the palm-sized playingcards carton, set it into the rectangular basket with smooth surface.",
+    "Pick and move the smooth playingcards holder, then shift the basket with arched black grip.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Grab the smooth playingcards holder, drop it in the plastic basket, then move the plastic basket.",
+    "Grab the playingcards pack with blue top, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Grab the blue carton for playingcards and drop it in the yellow basket.",
+    "Pick up the blue playingcards box, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Pick up the blue carton for playingcards and set it inside the bright yellow basket.",
+    "Take the box of playingcards, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the playingcards box with white symbols, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the bright yellow basket.",
+    "Set the blue carton for playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the blue pack holding playingcards, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the playingcards pack with blue top, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Pick the blue playingcards box, place it in the basket with arched black grip.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the small playingcards container in the bright yellow basket.",
+    "Pick the blue playingcards box and position it in the plastic basket, move the plastic basket slightly.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Lift the blue and white playingcards packaging, place it into the plastic basket, move the plastic basket.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick up the blue pack holding playingcards, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick the blue carton for playingcards, put it inside the basket with perforated sides.",
+    "Take the box of playingcards, put the box of playingcards into the plastic basket, shift the plastic basket.",
+    "Move the box of playingcards to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Put the smooth playingcards holder in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick up the blue carton for playingcards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the carrying basket with black plastic handle.",
+    "Place the playingcards box with white symbols in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box of playingcards, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Use one arm to place the playingcards box with white symbols in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Put the playingcards box with white symbols in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Place the rectangular blue playingcards case into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Grab the small playingcards container, set it into the handheld basket.",
+    "Pick and move the playingcards pack with blue top, then shift the carrying basket with black plastic handle.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the blue carton for playingcards, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Grab the smooth playingcards holder and drop it in the plastic basket.",
+    "Pick up the palm-sized playingcards carton, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick up the smooth playingcards holder and set it inside the rectangular basket with smooth surface.",
+    "Take the card box with golden designs, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Grab the blue playingcards box, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the handheld basket.",
+    "Set the blue carton for playingcards in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick the card box with golden designs, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the playingcards box with white symbols, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick the box of playingcards, place it in the yellow basket for carrying stuff.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the small playingcards container in the handheld basket.",
+    "Pick the playingcards box with white symbols and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Lift the box of playingcards using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Lift the small playingcards container, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Pick up the blue pack holding playingcards, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Pick the blue carton for playingcards, put it inside the plastic basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket with arched black grip, shift the basket with arched black grip.",
+    "Move the playingcards pack with blue top to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Put the box of playingcards in the basket with black handle and pull the basket with black handle away.",
+    "Pick up the box of playingcards and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the yellow basket for carrying stuff.",
+    "Place the blue and white playingcards packaging in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Grab the rectangular blue playingcards case, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the palm-sized playingcards carton in the yellow basket, adjust the yellow basket."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow basket with open slots.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the small packet of playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Grab the small packet of playingcards and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small packet of playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the medium-sized basket with perforated texture and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode46.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce05e8b51e27436f6cfa37af99d2bc799e90147
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the toycar with black wheels, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Place the bright blue toycar with roof buttons into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the toycar with dark gray windows, place it in the woven basket, shift the woven basket.",
+    "Grab the hand-sized rolling toycar and drop it in the smooth ribbed light brown basket.",
+    "Pick the bright blue toycar with roof buttons, put it inside the brown basket with woven ridges.",
+    "Use one arm to grab the toycar made of plastic material, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the toycar made of plastic material in the wooden basket with curved handle.",
+    "Pick the plastic toycar with smooth finish, place it in the woven basket.",
+    "Lift the small plastic toycar, place it into the brown basket, move the brown basket.",
+    "Take the kids' toycar in bright blue, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the kids' toycar in bright blue, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the toycar made of plastic material, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the toycar made of plastic material, drop the toycar made of plastic material in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Set the blue toycar with yellow roof accents in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Use the left arm to pick the toycar featuring black and white wheels, then use the right arm for the smooth ribbed light brown basket.",
+    "Grab the toycar with black wheels, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the plastic toycar with smooth finish, set it into the smooth ribbed light brown basket.",
+    "Move the toycar made of plastic material to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick the hand-sized rolling toycar and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Use one arm to place the blue toycar with yellow roof accents in the brown basket, adjust the brown basket.",
+    "Grab the hand-sized rolling toycar, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Use the left arm to grab the toycar with dark gray windows, place it in the brown basket, and move the brown basket using the right arm.",
+    "Put the small plastic toycar in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the brown basket.",
+    "Grab the toycar made of plastic material, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Take the compact glossy blue toycar, put the compact glossy blue toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the toycar with rounded edges, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Put the toycar with black wheels in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick up the toycar made of plastic material and set it inside the basket for carrying things.",
+    "Place the compact glossy blue toycar in the basket with handle, then grab the basket with handle.",
+    "Lift the compact glossy blue toycar using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Pick and move the bright blue toycar with roof buttons, then shift the smooth ribbed light brown basket.",
+    "Pick up the toycar featuring black and white wheels, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Place the blue toycar with yellow roof accents into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Pick the toycar with black wheels, place it in the basket for holding items, shift the basket for holding items.",
+    "Grab the toycar with black wheels and drop it in the basket with loop handle.",
+    "Pick the toycar made of plastic material, put it inside the wooden basket with curved handle.",
+    "Use one arm to grab the small plastic toycar, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the compact glossy blue toycar in the light brown oval basket.",
+    "Pick the toycar with rounded edges, place it in the basket for holding items.",
+    "Lift the toycar with black wheels, place it into the light brown oval basket, move the light brown oval basket.",
+    "Take the kids' toycar in bright blue, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the toycar with black wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the hand-sized rolling toycar, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the hand-sized rolling toycar, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Pick the kids' toycar in bright blue, drop the kids' toycar in bright blue in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Set the bright blue toycar with roof buttons in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Use the left arm to pick the kids' toycar in bright blue, then use the right arm for the basket for holding items.",
+    "Grab the blue toycar with yellow roof accents, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the toycar with rounded edges, set it into the brown basket with woven ridges.",
+    "Move the toycar featuring black and white wheels to the light brown oval basket, then shift the light brown oval basket.",
+    "Pick the toycar with rounded edges and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Use one arm to place the toycar made of plastic material in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the hand-sized rolling toycar, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use the left arm to grab the kids' toycar in bright blue, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Put the toycar with rounded edges in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the hand-sized rolling toycar with one arm, drop the hand-sized rolling toycar in the brown basket with woven ridges.",
+    "Grab the bright blue toycar with roof buttons, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Take the toycar made of plastic material, put the toycar made of plastic material into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick up the kids' toycar in bright blue, put it in the woven basket, shift the woven basket a little.",
+    "Put the toycar made of plastic material in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the toycar featuring black and white wheels and set it inside the oval-shaped basket with woven body.",
+    "Place the toycar with dark gray windows in the basket with handle, then grab the basket with handle.",
+    "Lift the small plastic toycar 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 toycar with dark gray windows, then shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with black wheels, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Place the toycar with black wheels into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Pick the plastic toycar with smooth finish, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the hand-sized rolling toycar and drop it in the basket made of woven wood.",
+    "Pick the bright blue toycar with roof buttons, put it inside the basket made of woven wood.",
+    "Use one arm to grab the hand-sized rolling toycar, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Use one arm to place the small plastic toycar in the basket for carrying things.",
+    "Pick the toycar with black wheels, place it in the basket with loop handle.",
+    "Lift the compact glossy blue toycar, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Take the plastic toycar with smooth finish, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Pick up the blue toycar with yellow roof accents and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue toycar with yellow roof accents, drop it in the brown basket, shift the brown basket.",
+    "Lift the bright blue toycar with roof buttons, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Pick the toycar with dark gray windows, drop the toycar with dark gray windows in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Set the toycar made of plastic material in the brown basket, and shift the brown basket away.",
+    "Use the left arm to pick the toycar with black wheels, then use the right arm for the basket for carrying things.",
+    "Grab the blue toycar with yellow roof accents, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue toycar with yellow roof accents, set it into the basket with handle.",
+    "Move the blue toycar with yellow roof accents to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the bright blue toycar with roof buttons and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use one arm to place the toycar with dark gray windows in the basket with handle, adjust the basket with handle.",
+    "Grab the toycar made of plastic material, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Use the left arm to grab the compact glossy blue toycar, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Put the compact glossy blue toycar in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket for holding items.",
+    "Grab the toycar with black wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Take the kids' toycar in bright blue, put the kids' toycar in bright blue into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the toycar featuring black and white wheels, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Put the small plastic toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick up the toycar made of plastic material and set it inside the basket with handle.",
+    "Place the plastic toycar with smooth finish in the basket for carrying things, then grab the basket for carrying things.",
+    "Lift the toycar featuring black and white wheels 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 small plastic toycar, then shift the basket for holding items.",
+    "Pick up the toycar with black wheels, place it in the wooden basket with curved handle, grab the wooden basket with curved handle."
+  ],
+  "unseen": [
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Place the blue toycar with yellow buttons in the medium basket with smooth texture and move it.",
+    "Pick up the blue toycar and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the blue toycar and place into the oval basket with medium storage space.",
+    "Pick up the playable toycar with rolling wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the blue toycar, place it in the basket with rounded edges.",
+    "Place the playable toycar with rolling wheels in the basket with rounded edges and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar and put it in the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar with yellow buttons to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the basket with rounded edges.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the oval basket with medium storage space.",
+    "Grab the blue toycar and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar in the oval basket with medium storage space and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the blue toycar with yellow buttons and place into the basket with rounded edges.",
+    "Pick up the blue toycar with yellow buttons, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the playable toycar with rolling wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar in the basket with rounded edges and move it.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium basket with smooth texture.",
+    "Grab the blue toycar and put it into the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons and put it in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the medium basket with smooth texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the oval basket with medium storage space.",
+    "Place the blue toycar in the medium basket with smooth texture and move it.",
+    "Pick up the blue toycar and drop in the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the playable toycar with rolling wheels and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playable toycar with rolling wheels and place into the oval basket with medium storage space.",
+    "Pick up the blue toycar with yellow buttons, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the blue toycar with yellow buttons to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the playable toycar with rolling wheels in the medium basket with smooth texture and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and put it into the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playable toycar with rolling wheels and place into the basket with rounded edges.",
+    "Pick up the blue toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the blue toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium basket with smooth texture.",
+    "Place the blue toycar with yellow buttons in the oval basket with medium storage space and move it.",
+    "Pick up the playable toycar with rolling wheels and drop in the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and put it into the basket with rounded edges.",
+    "Grab the blue toycar and put it in the medium basket with smooth texture.",
+    "Grab the blue toycar with yellow buttons, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the blue toycar with yellow buttons and place into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode47.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a297c9d11d1594aed1363aed64a56a06ce16447
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular blue playingcards case in the basket with loop handle, then grab the basket with loop handle.",
+    "Move the smooth playingcards holder to the brown basket, then shift the brown basket.",
+    "Pick the palm-sized playingcards carton and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick the blue pack holding playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the playingcards box with white symbols in the basket with handle.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Set the rectangular blue playingcards case in the light brown oval basket, and shift the light brown oval basket away.",
+    "Use one arm to place the playingcards box with white symbols in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the playingcards pack with blue top and set it inside the basket made of woven wood.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket with handle.",
+    "Pick up the blue pack holding playingcards, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Grab the blue playingcards box, drop in the basket for holding items, and move the basket for holding items.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick up the smooth playingcards holder and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols and drop it in the wooden basket with curved handle.",
+    "Pick and move the box of playingcards, then shift the basket made of woven wood.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the box of playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the small playingcards container in the woven basket and pull the woven basket away.",
+    "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.",
+    "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 small playingcards container, put it inside the brown basket with woven ridges.",
+    "Place the blue playingcards box into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the palm-sized playingcards carton, set it into the oval-shaped basket with woven body.",
+    "Lift the small playingcards container, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the card box with golden designs in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Move the blue carton for playingcards to the basket for holding items, then shift the basket for holding items.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue and white playingcards packaging, place it in the brown basket, shift the brown basket.",
+    "Use one arm to place the smooth playingcards holder in the basket for holding items.",
+    "Grab the playingcards box with white symbols, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Set the smooth playingcards holder in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Use one arm to place the blue playingcards box in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the rectangular blue playingcards case 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 brown basket.",
+    "Pick up the small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Grab the blue and white playingcards packaging, drop in the woven basket, and move the woven basket.",
+    "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.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick up the card box with golden designs and drop it in the brown basket, then move the brown basket.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the light brown oval basket.",
+    "Pick the blue playingcards box, place it in the basket for carrying things.",
+    "Grab the blue carton for playingcards and drop it in the smooth ribbed light brown basket.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for holding items.",
+    "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.",
+    "Put the small playingcards container in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "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 basket with handle, shift the basket with handle.",
+    "Pick the box of playingcards, put it inside the wooden basket with curved handle.",
+    "Place the smooth playingcards holder into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the playingcards box with white symbols, set it into the brown basket with woven ridges.",
+    "Lift the box of playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Take the playingcards box with white symbols, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Grab the playingcards box with white symbols, drop it in the brown basket, shift the brown basket.",
+    "Place the small playingcards container in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the blue and white playingcards packaging to the basket with loop handle, then shift the basket with loop handle.",
+    "Pick the blue pack holding playingcards and position it in the brown basket, move the brown basket slightly.",
+    "Pick the blue playingcards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the smooth playingcards holder in the light brown oval basket.",
+    "Grab the small playingcards container, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Set the blue carton for playingcards in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Use one arm to place the blue and white playingcards packaging in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the blue and white playingcards packaging, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the blue playingcards box and set it inside the basket with loop handle.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards, place it in the brown basket, grab the brown basket.",
+    "Pick up the playingcards pack with blue top, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the palm-sized playingcards carton, drop in the basket with loop handle, and move the basket with loop handle.",
+    "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 the left arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the card box with golden designs and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the woven basket.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle.",
+    "Grab the blue playingcards box and drop it in the basket made of woven wood.",
+    "Pick and move the small playingcards container, then shift the basket made of woven wood.",
+    "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 rectangular blue playingcards case in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "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.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Place the rectangular blue playingcards case into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the smooth playingcards holder, set it into the woven basket.",
+    "Lift the blue pack holding playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the palm-sized playingcards carton, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it 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.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the 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, 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 rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the 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.",
+    "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 medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the 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.",
+    "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 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 and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the 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, 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 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 pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the 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.",
+    "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.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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 basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the 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, 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 rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack 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 pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the 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, 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the 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, 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the 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 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.",
+    "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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode48.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e880b698e33272175948b6ee74a4297e268bd6
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the miniature bright green toycar, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the miniature bright green toycar, drop the miniature bright green toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the green car-shaped toycar using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Lift the green toycar, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick the smooth green toycar and position it in the yellow basket, move the yellow basket slightly.",
+    "Pick up the tiny green toycar, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to grab the small green toycar, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Take the green car-shaped toycar, put the green car-shaped toycar into the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick the miniature bright green toycar, place it in the yellow basket for carrying stuff.",
+    "Set the tiny green toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Use the left arm to pick the small green toycar, then use the right arm for the medium yellow basket with slots.",
+    "Put the smooth green toycar in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Pick and move the tiny green toycar, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black wheels, put it inside the yellow basket for carrying stuff.",
+    "Pick up the green toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar with black roof and wheels, place it in the basket with black handle, then move the basket with black handle away.",
+    "Use the left arm to grab the playful green toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Take the smooth green toycar, set it in the handheld basket, shift the handheld basket lightly.",
+    "Grab the toycar with black roof and wheels, set it into the handheld basket.",
+    "Pick up the toycar with black roof and wheels and drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use one arm to place the small plastic green toycar in the basket with arched black grip.",
+    "Move the shiny green toycar to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Use one arm to place the miniature bright green toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Lift the small plastic green toycar, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Put the smooth green toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Grab the smooth green toycar with one arm, drop the smooth green toycar in the handheld basket.",
+    "Grab the miniature bright green toycar and drop it in the basket with perforated sides.",
+    "Place the tiny green toycar in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Pick up the playful green toycar and set it inside the rectangular basket with smooth surface.",
+    "Grab the smooth green toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick the tiny green toycar, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Place the toycar with black wheels into the basket with black handle and push the basket with black handle slightly away.",
+    "Grab the toycar with black wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the toycar with black wheels, drop it in the basket with black handle, shift the basket with black handle.",
+    "Pick the green toycar, drop the green toycar in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Lift the shiny green toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the small plastic green toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Pick the tiny green toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick up the smooth green toycar, place it in the yellow basket, grab the yellow basket.",
+    "Use one arm to grab the tiny green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the green toycar, put the green toycar into the handheld basket, shift the handheld basket.",
+    "Pick the small green toycar, place it in the bright yellow basket.",
+    "Set the green car-shaped toycar in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Use the left arm to pick the green toycar made from plastic, then use the right arm for the bright yellow basket.",
+    "Put the shiny green toycar in the basket with black handle, then move the basket with black handle away slightly.",
+    "Pick and move the green toycar made from plastic, then shift the basket with perforated sides.",
+    "Pick the smooth green toycar, put it inside the rectangular basket with smooth surface.",
+    "Pick up the toycar with black wheels, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the miniature bright green toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Use the left arm to grab the shiny green toycar, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Take the green car-shaped toycar, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Grab the toycar with black roof and wheels, set it into the rectangular yellow basket.",
+    "Pick up the green toycar and drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to place the shiny green toycar in the plastic basket.",
+    "Move the tiny green toycar to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Use one arm to place the toycar with black wheels in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Lift the green toycar made from plastic, place it into the basket with black handle, move the basket with black handle.",
+    "Put the toycar with black roof and wheels in the handheld basket and pull the handheld basket away.",
+    "Grab the tiny green toycar with one arm, drop the tiny green toycar in the basket with black handle.",
+    "Grab the smooth green toycar and drop it in the rectangular basket with smooth surface.",
+    "Place the small green toycar in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Pick up the shiny green toycar and set it inside the rectangular yellow basket.",
+    "Grab the playful green toycar, drop in the plastic basket, and move the plastic basket.",
+    "Pick the shiny green toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Place the playful green toycar into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Grab the toycar with black wheels, drop it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Grab the small plastic green toycar, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick the playful green toycar, drop the playful green toycar in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Lift the green toycar using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Lift the smooth green toycar, drop it in the basket with black handle, then slightly relocate the basket with black handle.",
+    "Pick the shiny green toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Pick up the small green toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Use one arm to grab the playful green toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Take the green car-shaped toycar, put the green car-shaped toycar into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the miniature bright green toycar, place it in the yellow basket.",
+    "Set the small plastic green toycar in the handheld basket, and shift the handheld basket away.",
+    "Use the left arm to pick the small plastic green toycar, then use the right arm for the rectangular basket with smooth surface.",
+    "Put the green toycar made from plastic in the plastic basket, then move the plastic basket away slightly.",
+    "Pick and move the miniature bright green toycar, then shift the yellow basket for carrying stuff.",
+    "Pick the toycar with black roof and wheels, put it inside the yellow basket.",
+    "Pick up the tiny green toycar, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Grab the toycar with black roof and wheels, place it in the plastic basket, then move the plastic basket away.",
+    "Use the left arm to grab the miniature bright green toycar, place it in the yellow basket, and move the yellow basket using the right arm.",
+    "Take the shiny green toycar, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Grab the playful green toycar, set it into the rectangular yellow basket.",
+    "Pick up the shiny green toycar and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the smooth green toycar in the bright yellow basket.",
+    "Move the green toycar to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Use one arm to place the shiny green toycar in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Lift the shiny green toycar, place it into the bright yellow basket, move the bright yellow basket.",
+    "Put the miniature bright green toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Grab the green toycar made from plastic with one arm, drop the green toycar made from plastic in the yellow basket.",
+    "Grab the small green toycar and drop it in the basket with arched black grip.",
+    "Place the green toycar made from plastic in the handheld basket, then grab the handheld basket.",
+    "Pick up the smooth green toycar and set it inside the rectangular yellow basket.",
+    "Grab the green toycar made from plastic, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Pick the tiny green toycar, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Place the small plastic green toycar into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the small green toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Grab the shiny green toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the yellow basket with open slots.",
+    "Move the plastic toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the plastic toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the yellow basket with open slots.",
+    "Move the toycar with rounded edges to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the bright green toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it in the yellow basket with open slots.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the bright green toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the bright green toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the bright green toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it in the yellow basket with open slots.",
+    "Move the toycar with rounded edges to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic toycar and put it into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the toycar with rounded edges to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar and put it into the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode49.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..09c22e9250c0392f359fb020710220ccb74390d4
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue top toycar, place it in the brown basket, then move the brown basket away.",
+    "Grab the palm-sized blue toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the toycar with smooth texture and set it inside the basket made of woven wood.",
+    "Take the toycar with black tires, put the toycar with black tires into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick the small plastic toycar and position it in the brown basket, move the brown basket slightly.",
+    "Pick the toycar with black tires, put it inside the basket with loop handle.",
+    "Place the toycar with transparent windshield into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the woven basket.",
+    "Pick up the toycar with shiny plastic finish, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use one arm to grab the toycar with black tires, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the small plastic toycar using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the toycar with black tires, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Move the small plastic toycar to the basket with handle, then shift the basket with handle.",
+    "Set the bright sleek toycar in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Place the toycar with shiny wheels in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Use the left arm to pick the toycar with shiny plastic finish, then use the right arm for the basket for carrying things.",
+    "Put the toycar with shiny wheels in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the blue toycar and drop it in the basket made of woven wood.",
+    "Use the left arm to grab the blue toycar, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the small plastic toycar, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the toycar with shiny plastic finish in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the blue toycar and drop it in the woven basket, then move the woven basket.",
+    "Grab the toycar with smooth texture, set it into the oval-shaped basket with woven body.",
+    "Grab the toycar with black tires, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Lift the blue top toycar, place it into the basket with handle, move the basket with handle.",
+    "Pick the bright sleek toycar, place it in the oval-shaped basket with woven body.",
+    "Take the blue and gray toycar, set it in the woven basket, shift the woven basket lightly.",
+    "Use one arm to place the small plastic toycar in the smooth ribbed light brown basket.",
+    "Pick up the toycar with shiny plastic finish, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick and move the toycar for kids play, then shift the woven basket.",
+    "Put the small plastic toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Grab the bright sleek toycar, place it in the basket for holding items, then move the basket for holding items away.",
+    "Grab the blue and gray toycar, drop in the brown basket, and move the brown basket.",
+    "Pick up the toycar with shiny plastic finish and set it inside the oval-shaped basket with woven body.",
+    "Take the small plastic toycar, put the small plastic toycar into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the toycar with shiny plastic finish and position it in the woven basket, move the woven basket slightly.",
+    "Pick the bright sleek toycar, put it inside the brown basket with woven ridges.",
+    "Place the bright sleek toycar into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the toycar with shiny wheels, drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the toycar with black tires with one arm, drop the toycar with black tires in the brown basket with woven ridges.",
+    "Pick up the toycar with transparent windshield, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Use one arm to grab the small plastic toycar, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the basket for holding items, then push the basket for holding items via the right arm.",
+    "Lift the toycar with smooth texture, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Move the toycar with black tires to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Set the bright sleek toycar in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Place the bright sleek toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Use the left arm to pick the toycar with smooth texture, then use the right arm for the basket made of woven wood.",
+    "Put the blue and gray toycar in the brown basket, then move the brown basket away slightly.",
+    "Grab the blue top toycar and drop it in the basket with loop handle.",
+    "Use the left arm to grab the toycar with black tires, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Pick the blue top toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the blue toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the toycar with black tires and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the toycar with shiny wheels, set it into the basket made of woven wood.",
+    "Grab the blue top toycar, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Lift the toycar with shiny wheels, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick the toycar with shiny wheels, place it in the basket with loop handle.",
+    "Take the blue top toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Use one arm to place the toycar with shiny plastic finish in the woven basket.",
+    "Pick up the toycar with shiny wheels, place it in the brown basket, grab the brown basket.",
+    "Pick and move the blue toycar, then shift the wooden basket with curved handle.",
+    "Put the toycar with shiny plastic finish in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the toycar with black tires, place it in the brown basket, then move the brown basket away.",
+    "Grab the blue top toycar, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the toycar with shiny plastic finish and set it inside the basket for holding items.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the brown basket, shift the brown basket.",
+    "Pick the toycar with shiny plastic finish and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick the palm-sized blue toycar, put it inside the oval-shaped basket with woven body.",
+    "Place the toycar with transparent windshield into the woven basket and push the woven basket slightly away.",
+    "Grab the toycar with shiny wheels, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the small plastic toycar with one arm, drop the small plastic toycar in the basket with handle.",
+    "Pick up the small plastic toycar, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Use one arm to grab the bright sleek toycar, place it in the basket with handle, then move the basket with handle.",
+    "Lift the palm-sized blue toycar using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Lift the toycar with black tires, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Move the toycar with transparent windshield to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Set the toycar with black tires in the basket with handle, and shift the basket with handle away.",
+    "Place the toycar with transparent windshield in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Use the left arm to pick the bright sleek toycar, then use the right arm for the wooden basket with curved handle.",
+    "Put the toycar with shiny wheels in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the blue toycar and drop it in the brown basket.",
+    "Use the left arm to grab the toycar with shiny wheels, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick the toycar for kids play, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the toycar with black tires in the basket with handle, adjust the basket with handle.",
+    "Pick up the blue toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the toycar with black tires, set it into the basket with handle.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket, shift the brown basket.",
+    "Pick the toycar with shiny wheels, drop the toycar with shiny wheels in the basket for holding items, slide the basket for holding items lightly.",
+    "Lift the toycar with shiny wheels, place it into the basket for holding items, move the basket for holding items.",
+    "Pick the toycar with smooth texture, place it in the basket for holding items.",
+    "Take the blue top toycar, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body.",
+    "Pick up the toycar for kids play, place it in the woven basket, grab the woven basket.",
+    "Pick and move the toycar with smooth texture, then shift the basket made of woven wood.",
+    "Put the toycar with transparent windshield in the woven basket and pull the woven basket away.",
+    "Grab the blue and gray toycar, place it in the woven basket, then move the woven basket away."
+  ],
+  "unseen": [
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode5.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd43be22cd3cba2235a5eb615d2fbd1909f3025
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact red playingcards pack and position it in the woven basket, move the woven basket slightly.",
+    "Put the compact red playingcards pack in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the red and yellow playingcards case and drop it in the light brown oval basket.",
+    "Lift the hand-sized playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Put the rectangular playingcards case in the brown basket, then move the brown basket away slightly.",
+    "Lift the compact red playingcards pack, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the playingcards box with white accents using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the box for playingcards, set it into the light brown oval basket.",
+    "Use one arm to place the yellow and red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the yellow and red playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use the left arm to grab the playingcards storage box, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick the yellow and red playingcards box, place it in the smooth ribbed light brown basket.",
+    "Place the hand-sized playingcards container in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Place the compact red playingcards pack into the basket with handle and push the basket with handle slightly away.",
+    "Set the box for playingcards in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the compact red playingcards pack in the brown basket.",
+    "Grab the playingcards storage box, place it in the woven basket, then move the woven basket away.",
+    "Grab the red playingcards box, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick and move the red and yellow playingcards case, then shift the basket for holding items.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the compact red playingcards pack, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the box for playingcards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the basket with loop handle.",
+    "Move the yellow and red playingcards box to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the playingcards storage box, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the glossy rectangular playingcards box, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick up the glossy rectangular playingcards box and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the yellow and red playingcards box, put it inside the smooth ribbed light brown basket.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the brown basket with woven ridges.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the hand-sized playingcards container and set it inside the basket with handle.",
+    "Grab the yellow and red playingcards box, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick the playingcards box with white accents and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Put the glossy rectangular playingcards box in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the smooth playingcards pack and drop it in the light brown oval basket.",
+    "Lift the rectangular playingcards case, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Put the glossy rectangular playingcards box in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the smooth playingcards pack, place it into the basket with loop handle, move the basket with loop handle.",
+    "Lift the red 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.",
+    "Grab the glossy rectangular playingcards box, set it into the basket made of woven wood.",
+    "Use one arm to place the hand-sized playingcards container in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the hand-sized playingcards container, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Use the left arm to grab the small playingcards pack, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick the red and yellow playingcards case, place it in the brown basket.",
+    "Place the hand-sized playingcards container in the light brown oval basket, then grab the light brown oval basket.",
+    "Place the red and yellow playingcards case into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Set the red playingcards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Use one arm to place the red and yellow playingcards case in the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards pack, place it in the brown basket, then move the brown basket away.",
+    "Grab the playingcards storage box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick and move the box for playingcards, then shift the light brown oval basket.",
+    "Take the box for playingcards, put the box for playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the box for playingcards, place it in the brown basket, shift the brown basket.",
+    "Grab the smooth playingcards pack, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the compact red playingcards pack with one arm, drop the compact red playingcards pack in the basket with loop handle.",
+    "Move the rectangular playingcards case to the basket with handle, then shift the basket with handle.",
+    "Take the smooth playingcards pack, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the playingcards box with white accents, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Pick up the small playingcards pack and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the small playingcards pack, put it inside the oval-shaped basket with woven body.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the smooth ribbed light brown basket.",
+    "Use one arm to grab the compact red playingcards pack, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the hand-sized playingcards container and set it inside the light brown oval basket.",
+    "Grab the yellow and red playingcards box, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the red playingcards box and position it in the brown basket, move the brown basket slightly.",
+    "Put the rectangular playingcards case in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Grab the red playingcards box and drop it in the brown basket.",
+    "Lift the playingcards storage box, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Put the rectangular playingcards case in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Lift the red and yellow playingcards case, place it into the basket for holding items, move the basket for holding items.",
+    "Lift the red and yellow playingcards case using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the smooth playingcards pack, set it into the basket made of woven wood.",
+    "Use one arm to place the red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the box for playingcards, place it in the basket with handle, grab the basket with handle.",
+    "Use the left arm to grab the rectangular playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the hand-sized playingcards container, place it in the basket made of woven wood.",
+    "Place the glossy rectangular playingcards box in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Place the playingcards storage box into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the glossy rectangular playingcards box in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the smooth playingcards pack in the wooden basket with curved handle.",
+    "Grab the compact red playingcards pack, place it in the woven basket, then move the woven basket away.",
+    "Grab the red playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick and move the glossy rectangular playingcards box, then shift the light brown oval basket.",
+    "Take the glossy rectangular playingcards box, put the glossy rectangular playingcards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the playingcards box with white accents, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the compact red playingcards pack, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the basket for carrying things.",
+    "Move the compact red playingcards pack to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the yellow and red playingcards box, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the box for playingcards, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the brown basket, slide the brown basket lightly.",
+    "Pick up the compact red playingcards pack and drop it in the woven basket, then move the woven basket.",
+    "Pick the glossy rectangular playingcards box, put it inside the brown basket with woven ridges.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the basket for carrying things.",
+    "Use one arm to grab the playingcards storage box, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the playingcards storage box and set it inside the basket made of woven wood.",
+    "Grab the rectangular playingcards case, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the red playingcards box and position it in the brown basket, move the brown basket slightly."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode6.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..81220cbf34d6e3f8393b03cb0ff6d1dbf9f04060
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the brown basket.",
+    "Pick and move the rectangular box for card storage, then shift the basket for carrying things.",
+    "Grab the box with cards inside, drop it in the brown basket, shift the brown basket.",
+    "Put the small black box with cards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the black box with rectangular shape, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the small black box with cards in the oval-shaped basket with woven body.",
+    "Grab the compact box for playing cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Grab the palm-sized box for playing cards, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick up the box with cards inside, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Lift the rectangular box for card storage, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the small black box with cards, put it in the woven basket, shift the woven basket a little.",
+    "Take the black box with rectangular shape, put the black box with rectangular shape into the basket with handle, shift the basket with handle.",
+    "Use one arm to grab the box holding playing cards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the black box with rectangular shape using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Pick the cardboard playing cards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the cardboard playing cards box and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the light brown oval basket.",
+    "Move the small black box with cards to the basket for holding items, then shift the basket for holding items.",
+    "Place the palm-sized box for playing cards into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the compact box for playing cards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Place the black playing cards box in the basket for holding items, then grab the basket for holding items.",
+    "Pick up the black box with rectangular shape and set it inside the basket with handle.",
+    "Use one arm to place the black playing cards box in the basket for holding items, adjust the basket for holding items.",
+    "Pick the playing cards box with gold text, drop the playing cards box with gold text in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the rectangular box for card storage, set it into the basket made of woven wood.",
+    "Pick the small black box with cards, put it inside the brown basket with woven ridges.",
+    "Set the palm-sized box for playing cards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the rectangle-shaped cards box and drop it in the smooth ribbed light brown basket.",
+    "Lift the black playing cards box, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the black playing cards box, place it in the woven basket.",
+    "Put the rectangle-shaped cards box in the brown basket and pull the brown basket away.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Take the box holding playing cards, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the woven basket.",
+    "Pick and move the smooth black cards container, then shift the oval-shaped basket with woven body.",
+    "Grab the black playing cards box, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Put the box holding playing cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the black box with rectangular shape, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the black playing cards box in the wooden basket with curved handle.",
+    "Grab the black playing cards box, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the cardboard playing cards box, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the rectangle-shaped cards box, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Lift the box holding playing cards, place it into the woven basket, move the woven basket.",
+    "Pick up the smooth black cards container, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Take the black playing cards box, put the black playing cards box into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the box holding playing cards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Lift the palm-sized box for playing cards using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick the rectangular box for card storage, place it in the basket with handle, shift the basket with handle.",
+    "Pick up the black box with rectangular shape and drop it in the brown basket, then move the brown basket.",
+    "Grab the palm-sized box for playing cards with one arm, drop the palm-sized box for playing cards in the brown basket.",
+    "Move the box with cards inside to the basket for holding items, then shift the basket for holding items.",
+    "Place the palm-sized box for playing cards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick the black playing cards box and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Place the box holding playing cards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the cardboard playing cards box and set it inside the basket made of woven wood.",
+    "Use one arm to place the small black box with cards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the brown basket, slide the brown basket lightly.",
+    "Grab the compact box for playing cards, set it into the basket with handle.",
+    "Pick the box with cards inside, put it inside the smooth ribbed light brown basket.",
+    "Set the black playing cards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the smooth black cards container and drop it in the basket for carrying things.",
+    "Lift the box holding playing cards, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Pick the black box with rectangular shape, place it in the smooth ribbed light brown basket.",
+    "Put the playing cards box with gold text in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the right arm to grab the box with cards inside, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Take the compact box for playing cards, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Use the right arm to pick the small black box with cards, then use the left arm for the brown basket.",
+    "Pick and move the small black box with cards, then shift the basket for carrying things.",
+    "Grab the palm-sized box for playing cards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the compact box for playing cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the rectangular box for card storage, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the compact box for playing cards in the basket for holding items.",
+    "Grab the palm-sized box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the black box with rectangular shape, drop in the woven basket, and move the woven basket.",
+    "Pick up the rectangle-shaped cards box, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Lift the compact box for playing cards, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the palm-sized box for playing cards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the black box with rectangular shape, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the cardboard playing cards box using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick the rectangular box for card storage, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the compact box for playing cards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the small black box with cards with one arm, drop the small black box with cards in the wooden basket with curved handle.",
+    "Move the cardboard playing cards box to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Place the rectangle-shaped cards box into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the black playing cards box and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Place the rectangular box for card storage in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick up the playing cards box with gold text and set it inside the brown basket with woven ridges.",
+    "Use one arm to place the black playing cards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the box with cards inside, drop the box with cards inside in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Grab the compact box for playing cards, set it into the basket with handle.",
+    "Pick the rectangle-shaped cards box, put it inside the oval-shaped basket with woven body.",
+    "Set the rectangular box for card storage in the basket with handle, and shift the basket with handle away.",
+    "Grab the compact box for playing cards and drop it in the basket made of woven wood.",
+    "Lift the black playing cards box, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the playing cards box with gold text, place it in the basket made of woven wood.",
+    "Put the rectangle-shaped cards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the right arm to grab the black playing cards box, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Take the palm-sized box for playing cards, set it in the brown basket, shift the brown basket lightly.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the brown basket."
+  ],
+  "unseen": [
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode7.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..477ef79c1d3314cd774fd4f44e453d453e5be022
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small playingcards pack, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Lift the red and yellow playingcards case, place it into the plastic basket, move the plastic basket.",
+    "Use one arm to place the smooth playingcards pack in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Put the glossy rectangular playingcards box in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Place the playingcards box with white accents in the basket with black handle, then grab the basket with black handle.",
+    "Pick up the playingcards box with white accents, put it in the handheld basket, shift the handheld basket a little.",
+    "Pick the red and yellow playingcards case and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Put the rectangular playingcards case in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Pick the yellow and red playingcards box, put it inside the bright yellow basket.",
+    "Pick up the glossy rectangular playingcards box and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the red and yellow playingcards case and set it inside the basket with perforated sides.",
+    "Grab the playingcards storage box, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use the left arm to pick the box for playingcards, then use the right arm for the yellow basket for carrying stuff.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the playingcards box with white accents, then shift the medium yellow basket with slots.",
+    "Place the rectangular playingcards case into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick the compact red playingcards pack, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the red and yellow playingcards case, place it in the rectangular yellow basket.",
+    "Move the rectangular playingcards case to the yellow basket, then shift the yellow basket.",
+    "Grab the hand-sized playingcards container and drop it in the carrying basket with black plastic handle.",
+    "Set the rectangular playingcards case in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Lift the yellow and red playingcards box using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Grab the rectangular playingcards case, set it into the rectangular basket with smooth surface.",
+    "Grab the rectangular playingcards case with one arm, drop the rectangular playingcards case in the basket with perforated sides.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the yellow basket, slide the yellow basket lightly.",
+    "Grab the glossy rectangular playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Take the playingcards box with white accents, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Grab the red playingcards box, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Use one arm to grab the rectangular playingcards case, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the hand-sized playingcards container, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Use one arm to place the box for playingcards in the plastic basket.",
+    "Grab the hand-sized playingcards container, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the hand-sized playingcards container, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Lift the box for playingcards, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Use one arm to place the small playingcards pack in the plastic basket, adjust the plastic basket.",
+    "Put the box for playingcards in the plastic basket, then move the plastic basket away slightly.",
+    "Place the red and yellow playingcards case in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the yellow and red playingcards box, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Pick the rectangular playingcards case and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Put the hand-sized playingcards container in the yellow basket and pull the yellow basket away.",
+    "Pick the small playingcards pack, put it inside the plastic basket.",
+    "Pick up the glossy rectangular playingcards box and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick up the playingcards box with white accents and set it inside the basket with black handle.",
+    "Grab the hand-sized playingcards container, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the handheld basket.",
+    "Take the box for playingcards, put the box for playingcards into the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick and move the hand-sized playingcards container, then shift the basket with black handle.",
+    "Place the rectangular playingcards case into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Pick the red and yellow playingcards case, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the box for playingcards, place it in the rectangular yellow basket.",
+    "Move the smooth playingcards pack to the plastic basket, then shift the plastic basket.",
+    "Grab the yellow and red playingcards box and drop it in the carrying basket with black plastic handle.",
+    "Set the box for playingcards in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Lift the playingcards box with white accents using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Grab the rectangular playingcards case, set it into the basket with perforated sides.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the carrying basket with black plastic handle.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the smooth playingcards pack, drop it in the basket with black handle, shift the basket with black handle.",
+    "Take the hand-sized playingcards container, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Grab the box for playingcards, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Use one arm to grab the smooth playingcards pack, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the red and yellow playingcards case, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Use one arm to place the playingcards box with white accents in the medium yellow basket with slots.",
+    "Grab the box for playingcards, drop it in the handheld basket, then move the handheld basket.",
+    "Lift the red and yellow playingcards case, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Lift the hand-sized playingcards container, place it into the handheld basket, move the handheld basket.",
+    "Use one arm to place the glossy rectangular playingcards box in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Put the playingcards box with white accents in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Place the red playingcards box in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick up the red and yellow playingcards case, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick the smooth playingcards pack and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Put the compact red playingcards pack in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the compact red playingcards pack, put it inside the rectangular basket with smooth surface.",
+    "Pick up the playingcards box with white accents and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick up the rectangular playingcards case and set it inside the handheld basket.",
+    "Grab the red and yellow playingcards case, place it in the handheld basket, then move the handheld basket away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the yellow basket for carrying stuff.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the yellow basket, shift the yellow basket.",
+    "Pick and move the smooth playingcards pack, then shift the yellow basket.",
+    "Place the playingcards box with white accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick the small playingcards pack, place it in the handheld basket, shift the handheld basket.",
+    "Pick the smooth playingcards pack, place it in the rectangular basket with smooth surface.",
+    "Move the smooth playingcards pack to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Grab the red playingcards box and drop it in the basket with black handle.",
+    "Set the red and yellow playingcards case in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Lift the hand-sized playingcards container using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Grab the compact red playingcards pack, set it into the rectangular basket with smooth surface.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the rectangular yellow basket.",
+    "Pick the box for playingcards, drop the box for playingcards in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the playingcards storage box, drop it in the yellow basket, shift the yellow basket.",
+    "Take the red playingcards box, set it in the handheld basket, shift the handheld basket lightly.",
+    "Use the left arm to grab the box for playingcards, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Grab the box for playingcards, drop in the yellow basket, and move the yellow basket.",
+    "Use one arm to grab the compact red playingcards pack, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the red playingcards box, place it in the basket with black handle, grab the basket with black handle.",
+    "Use one arm to place the red and yellow playingcards case in the rectangular basket with smooth surface.",
+    "Grab the yellow and red playingcards box, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Lift the compact red playingcards pack, drop it in the yellow basket, then slightly relocate the yellow basket."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow basket with open slots and move it.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode8.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b56357d44bcfc79b5b663db6a9e6f145dbff1b2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the box for playingcards and drop it in the yellow basket.",
+    "Grab the box for playingcards with one arm, drop the box for playingcards in the rectangular yellow basket.",
+    "Set the yellow and red playingcards box in the yellow basket, and shift the yellow basket away.",
+    "Use one arm to grab the box for playingcards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the compact red playingcards pack, place it in the handheld basket.",
+    "Grab the glossy rectangular playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Pick the smooth playingcards pack and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick up the red playingcards box and drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick the rectangular playingcards case, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the yellow basket, shift the yellow basket.",
+    "Lift the red and yellow playingcards case using the left arm, drop it in the yellow basket, then push the yellow basket via the right arm.",
+    "Pick and move the hand-sized playingcards container, then shift the yellow basket for carrying stuff.",
+    "Take the box for playingcards, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Pick up the playingcards storage box and set it inside the yellow basket.",
+    "Place the rectangular playingcards case into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Use the left arm to pick the glossy rectangular playingcards box, then use the right arm for the bright yellow basket.",
+    "Grab the compact red playingcards pack, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Use one arm to place the yellow and red playingcards box in the bright yellow basket, adjust the bright yellow basket.",
+    "Grab the small playingcards pack, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the rectangular playingcards case, put it in the yellow basket, shift the yellow basket a little.",
+    "Put the glossy rectangular playingcards box in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Lift the red playingcards box, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick the box for playingcards, drop the box for playingcards in the handheld basket, slide the handheld basket lightly.",
+    "Pick the rectangular playingcards case, put it inside the plastic basket.",
+    "Grab the playingcards box with white accents, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Pick up the compact red playingcards pack, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Place the small playingcards pack in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Grab the yellow and red playingcards box, set it into the rectangular basket with smooth surface.",
+    "Put the small playingcards pack in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Move the yellow and red playingcards box to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Lift the box for playingcards, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Use one arm to place the red and yellow playingcards case in the carrying basket with black plastic handle.",
+    "Grab the red and yellow playingcards case and drop it in the rectangular yellow basket.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the yellow basket.",
+    "Set the glossy rectangular playingcards box in the bright yellow basket, and shift the bright yellow basket away.",
+    "Use one arm to grab the playingcards storage box, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the hand-sized playingcards container, place it in the bright yellow basket.",
+    "Grab the red playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Pick the glossy rectangular playingcards box and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick up the yellow and red playingcards box and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the rectangular playingcards case, place it in the basket with black handle, shift the basket with black handle.",
+    "Take the rectangular playingcards case, put the rectangular playingcards case into the basket with arched black grip, shift the basket with arched black grip.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the bright yellow basket, then push the bright yellow basket via the right arm.",
+    "Pick and move the rectangular playingcards case, then shift the basket with arched black grip.",
+    "Take the smooth playingcards pack, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Pick up the playingcards box with white accents and set it inside the yellow basket for carrying stuff.",
+    "Place the compact red playingcards pack into the basket with black handle and push the basket with black handle slightly away.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the yellow basket for carrying stuff.",
+    "Grab the box for playingcards, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Use one arm to place the box for playingcards in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Grab the box for playingcards, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Pick up the red and yellow playingcards case, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Put the small playingcards pack in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Lift the glossy rectangular playingcards box, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the small playingcards pack, drop the small playingcards pack in the basket with black handle, slide the basket with black handle lightly.",
+    "Pick the red playingcards box, put it inside the basket with perforated sides.",
+    "Grab the red and yellow playingcards case, drop in the plastic basket, and move the plastic basket.",
+    "Pick up the playingcards storage box, place it in the yellow basket, grab the yellow basket.",
+    "Place the red and yellow playingcards case in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Grab the glossy rectangular playingcards box, set it into the carrying basket with black plastic handle.",
+    "Put the yellow and red playingcards box in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Move the yellow and red playingcards box to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Use the left arm to grab the red playingcards box, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Lift the small playingcards pack, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Use one arm to place the playingcards box with white accents in the basket with black handle.",
+    "Grab the smooth playingcards pack and drop it in the basket with arched black grip.",
+    "Grab the box for playingcards with one arm, drop the box for playingcards in the carrying basket with black plastic handle.",
+    "Set the hand-sized playingcards container in the carrying basket with black plastic handle, and shift the carrying basket with black plastic handle away.",
+    "Use one arm to grab the box for playingcards, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the smooth playingcards pack, place it in the handheld basket.",
+    "Grab the hand-sized playingcards container, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick the box for playingcards and position it in the yellow basket, move the yellow basket slightly.",
+    "Pick up the small playingcards pack and drop it in the plastic basket, then move the plastic basket.",
+    "Pick the playingcards box with white accents, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Take the glossy rectangular playingcards box, put the glossy rectangular playingcards box into the handheld basket, shift the handheld basket.",
+    "Lift the box for playingcards using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Pick and move the red playingcards box, then shift the handheld basket.",
+    "Take the rectangular playingcards case, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Pick up the hand-sized playingcards container and set it inside the handheld basket.",
+    "Place the red playingcards box into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Use the left arm to pick the box for playingcards, then use the right arm for the rectangular basket with smooth surface.",
+    "Grab the playingcards box with white accents, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to place the yellow and red playingcards box in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Grab the playingcards storage box, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Pick up the small playingcards pack, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Put the playingcards box with white accents in the bright yellow basket and pull the bright yellow basket away.",
+    "Lift the playingcards storage box, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick the box for playingcards, drop the box for playingcards in the yellow basket, slide the yellow basket lightly.",
+    "Pick the hand-sized playingcards container, put it inside the bright yellow basket.",
+    "Grab the box for playingcards, drop in the yellow basket, and move the yellow basket.",
+    "Pick up the playingcards box with white accents, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Place the small playingcards pack in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the playingcards box with white accents, set it into the bright yellow basket.",
+    "Put the glossy rectangular playingcards box in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Move the box for playingcards to the handheld basket, then shift the handheld basket.",
+    "Use the left arm to grab the glossy rectangular playingcards box, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Lift the glossy rectangular playingcards box, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Use one arm to place the rectangular playingcards case in the yellow basket for carrying stuff.",
+    "Grab the red and yellow playingcards case and drop it in the carrying basket with black plastic handle."
+  ],
+  "unseen": [
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards and drop in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Place the small box for playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow basket with open slots and move it.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and place into the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small box for playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Place the small box for playingcards in the medium-sized basket with perforated texture and move it.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Use one arm to grab the small box for playingcards, place it in the medium-sized basket with perforated texture.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow basket with open slots.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and place into the medium-sized basket with perforated texture.",
+    "Place the rectangular red playingcards holder in the medium-sized basket with perforated texture and move it.",
+    "Grab the playingcards with red packaging and put it into the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode9.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..08133a9bbb5324df272e2a3d630d3950375cfe07
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene2/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the playingcards box with white symbols and drop it in the smooth ribbed light brown basket.",
+    "Use the right 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 left arm.",
+    "Lift the box of playingcards using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop in the basket for holding items, and move the basket for holding items.",
+    "Pick the card box with golden designs and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the playingcards pack with blue top, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Put the small playingcards container in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Lift the palm-sized playingcards carton, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Lift the rectangular blue playingcards case, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the blue and white playingcards packaging in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the basket with handle, slide the basket with handle lightly.",
+    "Pick the card box with golden designs, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue carton for playingcards and set it inside the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the light brown oval basket, shift the light brown oval basket.",
+    "Grab the small playingcards container, set it into the light brown oval basket.",
+    "Take the playingcards box with white symbols, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the blue carton for playingcards, place it in the basket for holding items, then move the basket for holding items away.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the smooth ribbed light brown basket.",
+    "Pick up the smooth playingcards holder and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the brown basket with woven ridges.",
+    "Pick the playingcards box with white symbols, put it inside the light brown oval basket.",
+    "Use one arm to place the card box with golden designs in the wooden basket with curved handle.",
+    "Pick and move the blue pack holding playingcards, then shift the woven basket.",
+    "Use one arm to place the blue playingcards box in the wooden basket with curved handle, adjust 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.",
+    "Set the small playingcards container in the woven basket, and shift the woven basket away.",
+    "Move the rectangular blue playingcards case to the basket for holding items, then shift the basket for holding items.",
+    "Place the playingcards box with white symbols in the brown basket, then grab the brown basket.",
+    "Grab the playingcards pack with blue top and drop it in the brown basket with woven ridges.",
+    "Use the right arm to grab the playingcards box with white symbols, place it in the basket with handle, and move the basket with handle using the left arm.",
+    "Lift the card box with golden designs using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the card box with golden designs, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue playingcards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the small playingcards container and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the rectangular blue playingcards case, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Put the smooth playingcards holder in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the smooth playingcards holder, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Put the blue pack holding playingcards in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Pick the card box with golden designs, place it in the basket with loop handle.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the basket with handle, slide the basket with handle lightly.",
+    "Pick the smooth playingcards holder, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the blue carton for playingcards and set it inside the oval-shaped basket with woven body.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the rectangular blue playingcards case, set it into the woven basket.",
+    "Take the blue playingcards box, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the smooth playingcards holder, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop it in the brown basket, then move the brown basket.",
+    "Grab the box of playingcards, place it in the woven basket, then move the woven basket away.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket with loop handle.",
+    "Pick up the playingcards box with white symbols and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use the right arm to pick the box of playingcards, then use the left arm for the wooden basket with curved handle.",
+    "Pick the card box with golden designs, put it inside the wooden basket with curved handle.",
+    "Use one arm to place the smooth playingcards holder in the basket for carrying things.",
+    "Pick and move the palm-sized playingcards carton, then shift the wooden basket with curved handle.",
+    "Use one arm to place the small playingcards container in the brown basket, adjust the brown basket.",
+    "Place the small playingcards container into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the playingcards box with white symbols in the woven basket, and shift the woven basket away.",
+    "Move the smooth playingcards holder to the light brown oval basket, then shift the light brown oval basket.",
+    "Place the box of playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder and drop it in the oval-shaped basket with woven body.",
+    "Use the right arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the left arm.",
+    "Lift the blue pack holding playingcards using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "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.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the palm-sized playingcards carton, drop in the brown basket, and move the brown basket.",
+    "Pick the palm-sized playingcards carton and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Put the blue and white playingcards packaging in the basket for holding items, then move the basket for holding items away slightly.",
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate 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.",
+    "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.",
+    "Pick the blue carton for playingcards, place it in the oval-shaped basket with woven body.",
+    "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.",
+    "Pick the blue pack holding playingcards, place it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the blue playingcards box and set it inside the wooden basket with curved handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket with handle, shift the basket with handle.",
+    "Grab the blue and white playingcards packaging, set it into the brown 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.",
+    "Pick up the small playingcards container, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the blue carton for playingcards, place it in the brown basket, then move the brown basket away.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the light brown oval basket.",
+    "Pick up the rectangular blue playingcards case and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use the right arm to pick the blue playingcards box, then use the left arm for the light brown oval basket.",
+    "Pick the playingcards box with white symbols, put it inside the basket for carrying things.",
+    "Use one arm to place the blue and white playingcards packaging in the woven basket.",
+    "Pick and move the blue carton for playingcards, then shift the basket with loop handle.",
+    "Use one arm to place the smooth playingcards holder in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Place the blue carton for playingcards into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Set the rectangular blue playingcards case in the light brown oval basket, and shift the light brown oval basket away.",
+    "Move the small playingcards container to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Place the box of playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Grab the small playingcards container and drop it in the light brown oval basket."
+  ],
+  "unseen": [
+    "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 oval basket with medium storage space and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "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 and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "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.",
+    "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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "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.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the 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.",
+    "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 rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the 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 rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "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 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.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "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 basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the 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 oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, 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.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the 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 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.",
+    "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.",
+    "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.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "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.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the 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.",
+    "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 medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode15.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2845a64d881ed0901abad647b6a9f09391fdfd
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth black cards container, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Place the palm-sized box for playing cards into the handheld basket and push the handheld basket slightly away.",
+    "Grab the cardboard playing cards box, drop in the handheld basket, and move the handheld basket.",
+    "Use one arm to place the box with cards inside in the plastic basket, adjust the plastic basket.",
+    "Pick and move the playing cards box with gold text, then shift the basket with perforated sides.",
+    "Use one arm to grab the palm-sized box for playing cards, place it in the yellow basket, then move the yellow basket.",
+    "Pick up the cardboard playing cards box and set it inside the yellow basket.",
+    "Use one arm to place the smooth black cards container in the basket with black handle.",
+    "Grab the palm-sized box for playing cards and drop it in the yellow basket.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the basket with arched black grip.",
+    "Pick up the box with cards inside, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Put the rectangle-shaped cards box in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick the rectangular box for card storage, drop the rectangular box for card storage in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick the playing cards box with gold text, put it inside the basket with arched black grip.",
+    "Pick the rectangle-shaped cards box, place it in the basket with black handle.",
+    "Lift the rectangular box for card storage, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the box with cards inside, set it into the handheld basket.",
+    "Take the box holding playing cards, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the black box with rectangular shape, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the small black box with cards, place it in the plastic basket, then move the plastic basket away.",
+    "Put the playing cards box with gold text in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the yellow basket for carrying stuff.",
+    "Pick the cardboard playing cards box and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Pick the cardboard playing cards box, place it in the basket with black handle, shift the basket with black handle.",
+    "Set the box holding playing cards in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Use the left arm to grab the smooth black cards container, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Place the black box with rectangular shape in the yellow basket, then grab the yellow basket.",
+    "Grab the smooth black cards container, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the compact box for playing cards, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Lift the black playing cards box using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Move the black box with rectangular shape to the yellow basket, then shift the yellow basket.",
+    "Take the smooth black cards container, put the smooth black cards container into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the palm-sized box for playing cards and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Lift the box holding playing cards, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Place the rectangle-shaped cards box into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Grab the box with cards inside, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Use one arm to place the rectangular box for card storage in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Pick and move the playing cards box with gold text, then shift the plastic basket.",
+    "Use one arm to grab the box holding playing cards, place it in the plastic basket, then move the plastic basket.",
+    "Pick up the small black box with cards and set it inside the basket with perforated sides.",
+    "Use one arm to place the box holding playing cards in the bright yellow basket.",
+    "Grab the cardboard playing cards box and drop it in the yellow basket for carrying stuff.",
+    "Grab the palm-sized box for playing cards with one arm, drop the palm-sized box for playing cards in the basket with black handle.",
+    "Pick up the playing cards box with gold text, place it in the medium yellow basket with slots, grab the medium yellow basket with slots.",
+    "Put the palm-sized box for playing cards in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick the palm-sized box for playing cards, drop the palm-sized box for playing cards in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Pick the playing cards box with gold text, put it inside the bright yellow basket.",
+    "Pick the rectangle-shaped cards box, place it in the basket with arched black grip.",
+    "Lift the rectangular box for card storage, place it into the bright yellow basket, move the bright yellow basket.",
+    "Grab the black box with rectangular shape, set it into the plastic basket.",
+    "Take the rectangle-shaped cards box, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the box with cards inside, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Put the rectangle-shaped cards box in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Use the left arm to pick the black playing cards box, then use the right arm for the yellow basket.",
+    "Pick the rectangular box for card storage and position it in the plastic basket, move the plastic basket slightly.",
+    "Pick the smooth black cards container, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Set the black box with rectangular shape in the yellow basket, and shift the yellow basket away.",
+    "Use the left arm to grab the box with cards inside, place it in the basket with perforated sides, and move the basket with perforated sides using the right arm.",
+    "Place the black box with rectangular shape in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box holding playing cards, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the compact box for playing cards, put it in the plastic basket, shift the plastic basket a little.",
+    "Lift the black box with rectangular shape using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Move the compact box for playing cards to the bright yellow basket, then shift the bright yellow basket.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the bright yellow basket, shift the bright yellow basket.",
+    "Pick up the black playing cards box and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Lift the smooth black cards container, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Place the small black box with cards into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Grab the compact box for playing cards, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Use one arm to place the smooth black cards container in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Pick and move the palm-sized box for playing cards, then shift the basket with arched black grip.",
+    "Use one arm to grab the box holding playing cards, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the cardboard playing cards box and set it inside the bright yellow basket.",
+    "Use one arm to place the compact box for playing cards in the basket with black handle.",
+    "Grab the playing cards box with gold text and drop it in the rectangular yellow basket.",
+    "Grab the rectangular box for card storage with one arm, drop the rectangular box for card storage in the handheld basket.",
+    "Pick up the rectangular box for card storage, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Put the box with cards inside in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the smooth black cards container, drop the smooth black cards container in the handheld basket, slide the handheld basket lightly.",
+    "Pick the black box with rectangular shape, put it inside the plastic basket.",
+    "Pick the compact box for playing cards, place it in the plastic basket.",
+    "Lift the compact box for playing cards, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the rectangle-shaped cards box, set it into the basket with black handle.",
+    "Take the box holding playing cards, set it in the rectangular yellow basket, shift the rectangular yellow basket lightly.",
+    "Grab the black box with rectangular shape, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Put the black playing cards box in the basket with black handle, then move the basket with black handle away slightly.",
+    "Use the left arm to pick the palm-sized box for playing cards, then use the right arm for the rectangular basket with smooth surface.",
+    "Pick the black box with rectangular shape and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick the compact box for playing cards, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Set the box with cards inside in the handheld basket, and shift the handheld basket away.",
+    "Use the left arm to grab the black playing cards box, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Place the smooth black cards container in the yellow basket, then grab the yellow basket.",
+    "Grab the smooth black cards container, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the box with cards inside, put it in the yellow basket, shift the yellow basket a little.",
+    "Lift the palm-sized box for playing cards using the left arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the right arm.",
+    "Move the black box with rectangular shape to the yellow basket, then shift the yellow basket.",
+    "Take the rectangular box for card storage, put the rectangular box for card storage into the basket with black handle, shift the basket with black handle.",
+    "Pick up the compact box for playing cards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Lift the box with cards inside, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip."
+  ],
+  "unseen": [
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it in the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the yellow rectangular basket with dual grips.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow basket with open slots and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and place into the yellow basket with open slots.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the hard black box for card deck and drop in the yellow rectangular basket with dual grips.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and put it into the medium-sized basket with perforated texture.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the hard black box for card deck and put it in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the hard black box for card deck and drop in the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode16.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b87ec3f7cfdbe1d66eb5304838b4c5534a58ee2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the toycar with dark gray windows in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Pick the toycar made of plastic material, put it inside the basket with black handle.",
+    "Move the kids' toycar in bright blue to the handheld basket, then shift the handheld basket.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick up the toycar featuring black and white wheels and drop it in the plastic basket, then move the plastic basket.",
+    "Lift the toycar made of plastic material, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Pick and move the toycar featuring black and white wheels, then shift the yellow basket for carrying stuff.",
+    "Use the right arm to grab the toycar with black wheels, place it in the basket with perforated sides, and move the basket with perforated sides using the left arm.",
+    "Pick up the hand-sized rolling toycar and set it inside the bright yellow basket.",
+    "Pick the toycar with dark gray windows, drop the toycar with dark gray windows in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the blue toycar with yellow roof accents, drop it in the yellow basket, shift the yellow basket.",
+    "Take the bright blue toycar with roof buttons, set it in the bright yellow basket, shift the bright yellow basket lightly.",
+    "Set the small plastic toycar in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Pick the bright blue toycar with roof buttons and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the bright blue toycar with roof buttons, drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the toycar featuring black and white wheels with one arm, drop the toycar featuring black and white wheels in the rectangular basket with smooth surface.",
+    "Pick the toycar with rounded edges, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the toycar with dark gray windows, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket with black handle.",
+    "Grab the toycar with rounded edges, set it into the bright yellow basket.",
+    "Use one arm to place the toycar with black wheels in the handheld basket, adjust the handheld basket.",
+    "Grab the hand-sized rolling toycar, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Place the bright blue toycar with roof buttons into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Lift the toycar with black wheels, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Put the toycar with black wheels in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Use the right arm to pick the toycar made of plastic material, then use the left arm for the basket with black handle.",
+    "Pick up the compact glossy blue toycar, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Lift the compact glossy blue toycar using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Grab the blue toycar with yellow roof accents and drop it in the bright yellow basket.",
+    "Pick up the toycar made of plastic material, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Place the blue toycar with yellow roof accents in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick the toycar featuring black and white wheels, place it in the basket with perforated sides.",
+    "Take the toycar with dark gray windows, put the toycar with dark gray windows into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Put the hand-sized rolling toycar in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Pick the toycar with dark gray windows, put it inside the rectangular yellow basket.",
+    "Move the blue toycar with yellow roof accents to the plastic basket, then shift the plastic basket.",
+    "Use one arm to grab the blue toycar with yellow roof accents, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the hand-sized rolling toycar and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Lift the toycar made of plastic material, place it into the bright yellow basket, move the bright yellow basket.",
+    "Pick and move the toycar with dark gray windows, then shift the basket with perforated sides.",
+    "Use the right arm to grab the small plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Pick up the small plastic toycar and set it inside the basket with black handle.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the handheld basket, slide the handheld basket lightly.",
+    "Grab the toycar with rounded edges, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Take the toycar with dark gray windows, set it in the plastic basket, shift the plastic basket lightly.",
+    "Set the kids' toycar in bright blue in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick the compact glossy blue toycar and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Grab the toycar with dark gray windows, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the toycar with black wheels with one arm, drop the toycar with black wheels in the medium yellow basket with slots.",
+    "Pick the toycar made of plastic material, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the small plastic toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Use one arm to place the plastic toycar with smooth finish in the rectangular basket with smooth surface.",
+    "Grab the toycar with black wheels, set it into the bright yellow basket.",
+    "Use one arm to place the plastic toycar with smooth finish in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Grab the compact glossy blue toycar, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Place the hand-sized rolling toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Lift the kids' toycar in bright blue, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Put the compact glossy blue toycar in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Use the right arm to pick the blue toycar with yellow roof accents, then use the left arm for the basket with black handle.",
+    "Pick up the compact glossy blue toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Lift the toycar with rounded edges using the right arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the left arm.",
+    "Grab the compact glossy blue toycar and drop it in the plastic basket.",
+    "Pick up the compact glossy blue toycar, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Place the plastic toycar with smooth finish in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick the toycar made of plastic material, place it in the plastic basket.",
+    "Take the small plastic toycar, put the small plastic toycar into the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the toycar made of plastic material in the yellow basket, then move the yellow basket away slightly.",
+    "Pick the toycar made of plastic material, put it inside the carrying basket with black plastic handle.",
+    "Move the blue toycar with yellow roof accents to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Use one arm to grab the compact glossy blue toycar, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Pick up the kids' toycar in bright blue and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the toycar with dark gray windows, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Pick and move the toycar with black wheels, then shift the rectangular basket with smooth surface.",
+    "Use the right arm to grab the toycar made of plastic material, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the left arm.",
+    "Pick up the hand-sized rolling toycar and set it inside the medium yellow basket with slots.",
+    "Pick the plastic toycar with smooth finish, drop the plastic toycar with smooth finish in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the blue toycar with yellow roof accents, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Take the bright blue toycar with roof buttons, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Set the plastic toycar with smooth finish in the yellow basket, and shift the yellow basket away.",
+    "Pick the compact glossy blue toycar and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Grab the toycar featuring black and white wheels, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the bright blue toycar with roof buttons with one arm, drop the bright blue toycar with roof buttons in the bright yellow basket.",
+    "Pick the plastic toycar with smooth finish, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the hand-sized rolling toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Use one arm to place the bright blue toycar with roof buttons in the rectangular basket with smooth surface.",
+    "Grab the blue toycar with yellow roof accents, set it into the medium yellow basket with slots.",
+    "Use one arm to place the compact glossy blue toycar in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Grab the toycar featuring black and white wheels, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Place the hand-sized rolling toycar into the handheld basket and push the handheld basket slightly away.",
+    "Lift the plastic toycar with smooth finish, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Put the bright blue toycar with roof buttons in the bright yellow basket and pull the bright yellow basket away.",
+    "Use the right arm to pick the bright blue toycar with roof buttons, then use the left arm for the basket with perforated sides.",
+    "Pick up the toycar with rounded edges, place it in the yellow basket, grab the yellow basket.",
+    "Lift the blue toycar with yellow roof accents using the right arm, drop it in the handheld basket, then push the handheld basket via the left arm.",
+    "Grab the hand-sized rolling toycar and drop it in the yellow basket.",
+    "Pick up the toycar with black wheels, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Place the toycar with black wheels in the plastic basket, then grab the plastic basket.",
+    "Pick the toycar with black wheels, place it in the basket with perforated sides.",
+    "Take the toycar featuring black and white wheels, put the toycar featuring black and white wheels into the basket with arched black grip, shift the basket with arched black grip.",
+    "Put the kids' toycar in bright blue in the yellow basket, then move the yellow basket away slightly."
+  ],
+  "unseen": [
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the blue toycar with yellow buttons in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the playable toycar with rolling wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar with yellow buttons in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar with yellow buttons, place it in the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Place the playable toycar with rolling wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playable toycar with rolling wheels and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar with yellow buttons in the yellow basket with open slots and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the playable toycar with rolling wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the playable toycar with rolling wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Grab the blue toycar and put it into the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the yellow basket with open slots and move it.",
+    "Grab the playable toycar with rolling wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the playable toycar with rolling wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the yellow basket with open slots.",
+    "Grab the playable toycar with rolling wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and put it into the yellow basket with open slots.",
+    "Place the playable toycar with rolling wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar with yellow buttons, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Grab the blue toycar with yellow buttons and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar with yellow buttons and put it into the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar with yellow buttons, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the playable toycar with rolling wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the playable toycar with rolling wheels, place it in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode20.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf92e9680565dd439c8f7472cb87fdb4871c32ce
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the toycar with glossy finish using the left arm, drop it in the basket with black handle, then push the basket with black handle via the right arm.",
+    "Pick and move the toycar with glossy finish, then shift the basket with black handle.",
+    "Pick up the smooth teal car, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the mini car toy, drop the mini car toy in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the toycar with glossy finish, put the toycar with glossy finish into the plastic basket, shift the plastic basket.",
+    "Set the small teal plastic car with windows in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick up the smooth teal car, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Grab the miniature teal vehicle toy with one arm, drop the miniature teal vehicle toy in the rectangular yellow basket.",
+    "Place the miniature teal vehicle toy into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Place the toycar with white roof and teal body in the handheld basket, then grab the handheld basket.",
+    "Pick the miniature teal vehicle toy, put it inside the bright yellow basket.",
+    "Grab the mini car toy, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the mini car toy in the plastic basket, adjust the plastic basket.",
+    "Put the toycar with glossy finish in the basket with black handle, then move the basket with black handle away slightly.",
+    "Grab the light teal toycar with white roof, set it into the rectangular yellow basket.",
+    "Pick up the compact teal toycar and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the compact teal toycar, place it in the basket with perforated sides.",
+    "Lift the light teal toycar with white roof, place it into the handheld basket, move the handheld basket.",
+    "Put the play car in teal and white in the handheld basket and pull the handheld basket away.",
+    "Move the light teal toycar with white roof to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Grab the mini car toy, drop it in the yellow basket, then move the yellow basket.",
+    "Use the left arm to grab the light teal toycar with white roof, place it in the handheld basket, and move the handheld basket using the right arm.",
+    "Pick up the small teal plastic car with windows and set it inside the plastic basket.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the rectangular basket with smooth surface.",
+    "Use one arm to grab the smooth teal car, place it in the handheld basket, then move the handheld basket.",
+    "Use one arm to place the small teal plastic car with windows in the yellow basket for carrying stuff.",
+    "Take the toycar with white roof and teal body, set it in the handheld basket, shift the handheld basket lightly.",
+    "Lift the small teal plastic car with windows, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Pick the light teal toycar with white roof and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the play car in teal and white, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Grab the toycar with white roof and teal body and drop it in the bright yellow basket.",
+    "Pick the mini car toy, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the rounded teal car toy, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Lift the compact teal toycar using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Pick and move the small teal plastic car with windows, then shift the yellow basket for carrying stuff.",
+    "Pick up the smooth teal car, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Pick the rounded teal car toy, drop the rounded teal car toy in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the compact teal toycar, put the compact teal toycar into the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Set the rounded teal car toy in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick up the small car toy, put it in the yellow basket, shift the yellow basket a little.",
+    "Grab the compact teal toycar with one arm, drop the compact teal toycar in the basket with arched black grip.",
+    "Place the light teal toycar with white roof into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Place the miniature teal vehicle toy in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick the toycar with black tires, put it inside the yellow basket.",
+    "Grab the toycar with white roof and teal body, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Use one arm to place the compact teal toycar in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Put the miniature teal vehicle toy in the handheld basket, then move the handheld basket away slightly.",
+    "Grab the toycar with glossy finish, set it into the carrying basket with black plastic handle.",
+    "Pick up the light teal toycar with white roof and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the miniature teal vehicle toy, place it in the basket with perforated sides.",
+    "Lift the rounded teal car toy, place it into the yellow basket for carrying stuff, move the yellow basket for carrying stuff.",
+    "Put the toycar with white roof and teal body in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Move the compact teal toycar to the handheld basket, then shift the handheld basket.",
+    "Grab the small teal plastic car with windows, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to grab the small car toy, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Pick up the rounded teal car toy and set it inside the basket with arched black grip.",
+    "Use the left arm to pick the rounded teal car toy, then use the right arm for the basket with arched black grip.",
+    "Use one arm to grab the smooth teal car, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle.",
+    "Use one arm to place the smooth teal car in the rectangular basket with smooth surface.",
+    "Take the toycar with white roof and teal body, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Lift the play car in teal and white, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Pick the compact teal toycar and position it in the plastic basket, move the plastic basket slightly.",
+    "Grab the light teal toycar with white roof, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Grab the smooth teal car and drop it in the medium yellow basket with slots.",
+    "Pick the small teal plastic car with windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the mini car toy, place it in the basket with black handle, then move the basket with black handle away.",
+    "Lift the play car in teal and white using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Pick and move the small teal plastic car with windows, then shift the rectangular basket with smooth surface.",
+    "Pick up the smooth teal car, place it in the yellow basket, grab the yellow basket.",
+    "Pick the toycar with glossy finish, drop the toycar with glossy finish in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Take the mini car toy, put the mini car toy into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Set the light teal toycar with white roof in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick up the compact teal toycar, put it in the handheld basket, shift the handheld basket a little.",
+    "Grab the rounded teal car toy with one arm, drop the rounded teal car toy in the medium yellow basket with slots.",
+    "Place the play car in teal and white into the basket with arched black grip and push the basket with arched black grip slightly away.",
+    "Place the toycar with glossy finish in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick the miniature teal vehicle toy, put it inside the rectangular yellow basket.",
+    "Grab the toycar with black tires, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to place the small car toy in the basket with black handle, adjust the basket with black handle.",
+    "Put the toycar with white roof and teal body in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Grab the mini car toy, set it into the medium yellow basket with slots.",
+    "Pick up the mini car toy and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick the light teal toycar with white roof, place it in the rectangular yellow basket.",
+    "Lift the toycar with black tires, place it into the yellow basket, move the yellow basket.",
+    "Put the smooth teal car in the handheld basket and pull the handheld basket away.",
+    "Move the small car toy to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle.",
+    "Grab the toycar with glossy finish, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to grab the mini car toy, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Pick up the play car in teal and white and set it inside the handheld basket.",
+    "Use the left arm to pick the play car in teal and white, then use the right arm for the plastic basket.",
+    "Use one arm to grab the play car in teal and white, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use one arm to place the compact teal toycar in the medium yellow basket with slots.",
+    "Take the smooth teal car, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Lift the small teal plastic car with windows, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Pick the miniature teal vehicle toy and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the miniature teal vehicle toy, drop in the basket with black handle, and move the basket with black handle.",
+    "Grab the toycar with white roof and teal body and drop it in the bright yellow basket.",
+    "Pick the toycar with black tires, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Grab the smooth teal car, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Lift the compact teal toycar using the left arm, drop it in the handheld basket, then push the handheld basket via the right arm."
+  ],
+  "unseen": [
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the teal toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the teal toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the plastic teal car with wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and put it in the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the teal toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the teal toycar, place it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic teal car with wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the teal toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the teal toycar and place into the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the teal toycar, place it in the yellow basket with open slots.",
+    "Move the plastic toycar with four spinning wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the plastic toycar with four spinning wheels in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar with four spinning wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the yellow basket with open slots.",
+    "Grab the teal toycar and place into the yellow basket with open slots.",
+    "Pick up the teal toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the teal toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the teal toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar with four spinning wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar with four spinning wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic toycar with four spinning wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow basket with open slots.",
+    "Move the teal toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the teal toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic teal car with wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic teal car with wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the teal toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the plastic teal car with wheels and place into the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels and drop in the yellow basket with open slots.",
+    "Grab the plastic toycar with four spinning wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the plastic toycar with four spinning wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow basket with open slots.",
+    "Pick up the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and put it into the yellow rectangular basket with dual grips.",
+    "Grab the plastic teal car with wheels and place into the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar and drop in the yellow basket with open slots.",
+    "Grab the plastic teal car with wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic teal car with wheels, place it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar with four spinning wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the plastic teal car with wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the plastic teal car with wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the teal toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode22.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..985fa942605fe06b241115aec0847ff1f70edca7
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to grab the blue and gray toycar, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Take the toycar with smooth texture, put the toycar with smooth texture into the woven basket, shift the woven basket.",
+    "Pick the toycar with shiny plastic finish and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Pick up the small plastic toycar and set it inside the smooth ribbed light brown basket.",
+    "Grab the bright sleek toycar, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the blue toycar, set it into the light brown oval basket.",
+    "Put the toycar with black tires in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Set the blue top toycar in the brown basket, and shift the brown basket away.",
+    "Place the small plastic toycar into the brown basket and push the brown basket slightly away.",
+    "Use the left arm to grab the blue and gray toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Lift the toycar with shiny plastic finish, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Lift the toycar with shiny wheels using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the toycar with shiny wheels, then shift the basket made of woven wood.",
+    "Pick the blue toycar, place it in the light brown oval basket.",
+    "Pick the bright sleek toycar, drop the bright sleek toycar in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the light brown oval basket.",
+    "Grab the small plastic toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the blue top toycar, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the toycar with shiny wheels and drop it in the basket for holding items.",
+    "Pick the toycar for kids play, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the blue top toycar in the basket with handle and pull the basket with handle away.",
+    "Use the left arm to pick the blue toycar, then use the right arm for the basket made of woven wood.",
+    "Lift the toycar with black tires, place it into the woven basket, move the woven basket.",
+    "Pick up the blue toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Place the toycar with black tires in the woven basket, then grab the woven basket.",
+    "Pick up the blue toycar, place it in the basket with handle, grab the basket with handle.",
+    "Use one arm to place the blue and gray toycar in the basket for holding items.",
+    "Pick the toycar with smooth texture, put it inside the woven basket.",
+    "Move the bright sleek toycar to the basket for holding items, then shift the basket for holding items.",
+    "Grab the small plastic toycar, place it in the woven basket, then move the woven basket away.",
+    "Use one arm to place the toycar with shiny wheels in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the toycar with smooth texture and drop it in the basket for holding items, then move the basket for holding items.",
+    "Take the toycar with shiny plastic finish, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Use one arm to grab the palm-sized blue toycar, place it in the basket with handle, then move the basket with handle.",
+    "Take the toycar for kids play, put the toycar for kids play into the woven basket, shift the woven basket.",
+    "Pick the blue toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Pick up the toycar with black tires and set it inside the brown basket with woven ridges.",
+    "Grab the bright sleek toycar, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the toycar with shiny plastic finish, set it into the brown basket with woven ridges.",
+    "Put the toycar for kids play in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Set the toycar for kids play in the woven basket, and shift the woven basket away.",
+    "Place the toycar with black tires 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 top toycar, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the blue and gray toycar, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the bright sleek toycar using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick and move the small plastic toycar, then shift the basket for carrying things.",
+    "Pick the bright sleek toycar, place it in the wooden basket with curved handle.",
+    "Pick the blue and gray toycar, drop the blue and gray toycar in the woven basket, slide the woven basket lightly.",
+    "Grab the blue toycar with one arm, drop the blue toycar in the brown basket.",
+    "Grab the blue and gray toycar, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the blue and gray toycar, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Grab the bright sleek toycar and drop it in the basket with loop handle.",
+    "Pick the toycar with transparent windshield, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Put the toycar with smooth texture in the brown basket and pull the brown basket away.",
+    "Use the left arm to pick the toycar for kids play, then use the right arm for the basket with handle.",
+    "Lift the toycar with shiny plastic finish, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick up the toycar with shiny plastic finish, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Place the toycar with black tires in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the bright sleek toycar, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Use one arm to place the blue and gray toycar in the light brown oval basket.",
+    "Pick the toycar for kids play, put it inside the light brown oval basket.",
+    "Move the small plastic toycar to the woven basket, then shift the woven basket.",
+    "Grab the toycar with smooth texture, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Use one arm to place the palm-sized blue toycar in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the toycar with shiny wheels and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the toycar with shiny wheels, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use one arm to grab the blue toycar, place it in the brown basket, then move the brown basket.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the basket with loop handle, shift the basket with loop handle.",
+    "Pick the toycar with shiny plastic finish and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the toycar with shiny wheels and set it inside the woven basket.",
+    "Grab the toycar with transparent windshield, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the blue toycar, set it into the brown basket with woven ridges.",
+    "Put the toycar with black tires in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Set the blue toycar in the basket with handle, and shift the basket with handle away.",
+    "Place the toycar with black tires into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Use the left arm to grab the toycar with smooth texture, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the right arm.",
+    "Lift the toycar with black tires, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Lift the toycar with transparent windshield using the left arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the right arm.",
+    "Pick and move the bright sleek toycar, then shift the basket made of woven wood.",
+    "Pick the toycar with black tires, place it in the brown basket with woven ridges.",
+    "Pick the blue top toycar, drop the blue top toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Grab the toycar with black tires with one arm, drop the toycar with black tires in the basket with handle.",
+    "Grab the blue top toycar, drop it in the brown basket, then move the brown basket.",
+    "Grab the toycar with black tires, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the blue top toycar and drop it in the basket for carrying things.",
+    "Pick the bright sleek toycar, place it in the brown basket, shift the brown basket.",
+    "Put the blue and gray toycar in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Use the left arm to pick the blue and gray toycar, then use the right arm for the brown basket.",
+    "Lift the blue toycar, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the toycar with transparent windshield, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Place the blue toycar in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick up the toycar with smooth texture, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Use one arm to place the blue top toycar in the basket made of woven wood.",
+    "Pick the palm-sized blue toycar, put it inside the light brown oval basket.",
+    "Move the toycar with shiny wheels to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the toycar with smooth texture, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Use one arm to place the toycar with shiny wheels in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the toycar with smooth texture and drop it in the woven basket, then move the woven basket.",
+    "Take the blue and gray toycar, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Use one arm to grab the toycar with shiny plastic finish, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket."
+  ],
+  "unseen": [
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the basket with rounded edges.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the oval basket with medium storage space and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the basket with rounded edges.",
+    "Place the toycar with rounded body in the basket with rounded edges and move it.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gray base toycar and place into the oval basket with medium storage space.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode30.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a7b4468b22a6abf78595c8c11a3e9a5c69c60e
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue playingcards box, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the blue carton for playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the box of playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the basket for holding items.",
+    "Place the blue and white playingcards packaging in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Move the card box with golden designs to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Pick the palm-sized playingcards carton, place it in the wooden basket with curved handle.",
+    "Pick and move the card box with golden designs, then shift the basket for carrying things.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the light brown oval basket.",
+    "Take the small playingcards container, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket, then move the brown basket.",
+    "Lift the blue pack holding playingcards using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use one arm to place the blue pack holding playingcards in the wooden basket with curved handle.",
+    "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 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 and pull the woven basket away.",
+    "Pick up the playingcards pack with blue top, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick up the blue pack holding playingcards and set it inside the basket for holding items.",
+    "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.",
+    "Grab the small playingcards container, set it into the smooth ribbed light brown basket.",
+    "Put the box of playingcards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Set the playingcards pack with blue top in the basket with handle, and shift the basket with handle away.",
+    "Use one arm to place the playingcards box with white symbols in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the blue and white playingcards packaging and drop it in the woven basket.",
+    "Place the smooth playingcards holder into the woven basket and push the woven basket slightly away.",
+    "Grab the blue carton for playingcards, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the card box with golden designs, put it inside the basket for carrying things.",
+    "Use the right 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 left arm.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue carton for playingcards, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the smooth playingcards holder, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Grab the blue pack holding playingcards, drop in the brown basket, and move the brown basket.",
+    "Lift the smooth playingcards holder, place it into the brown basket, move the brown basket.",
+    "Pick up the blue and white playingcards packaging, place it in the basket with handle, grab the basket with handle.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the brown basket, shift the brown basket.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the brown basket.",
+    "Place the card box with golden designs in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the playingcards pack with blue top to the basket for carrying things, then shift the basket for carrying things.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood.",
+    "Pick and move the playingcards box with white symbols, then shift the wooden basket with curved handle.",
+    "Use the right arm to pick the blue and white playingcards packaging, then use the left arm for the woven basket.",
+    "Take the rectangular blue playingcards case, set it in the brown basket, shift the brown basket lightly.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the rectangular blue playingcards case using the right arm, drop it in the light brown oval basket, then push the light brown oval basket via the left arm.",
+    "Use one arm to place the box of playingcards in the brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the blue pack holding playingcards, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Put the blue carton for playingcards in the basket with handle and pull the basket with handle away.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Pick up the smooth playingcards holder and set it inside the wooden basket with curved handle.",
+    "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.",
+    "Grab the card box with golden designs, set it into the brown basket with woven ridges.",
+    "Put the blue and white playingcards packaging in the brown basket, then move the brown basket away slightly.",
+    "Set the smooth playingcards holder in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the smooth playingcards holder in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case and drop it in the basket for carrying things.",
+    "Place the palm-sized playingcards carton into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the rectangular blue playingcards case, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the blue playingcards box, put it inside the basket made of woven wood.",
+    "Use the right arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Pick the blue carton for playingcards and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Lift the blue pack holding playingcards, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Lift the playingcards pack with blue top, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Pick up the blue playingcards box, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Take the small playingcards container, put the small playingcards container into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with loop handle.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Move the palm-sized playingcards carton to the woven basket, then shift the woven basket.",
+    "Pick the playingcards pack with blue top, place it in the basket for holding items.",
+    "Pick and move the palm-sized playingcards carton, then shift the smooth ribbed light brown basket.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the basket for holding items.",
+    "Take the palm-sized playingcards carton, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Use one arm to grab the blue carton for playingcards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the blue playingcards box using the right arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the left arm.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop it in the brown basket, shift the brown basket.",
+    "Grab the playingcards box with white symbols, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick up the small playingcards container, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick up the box of playingcards and set it inside 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 blue and white playingcards packaging, set it into 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.",
+    "Set the playingcards box with white symbols in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use one arm to place the playingcards pack with blue top in the basket for carrying things, adjust the basket for carrying things.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Place the blue playingcards box into the basket for holding items and push the basket for holding items slightly away.",
+    "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.",
+    "Pick up the playingcards box with white symbols and drop it in the woven basket, then move the woven basket.",
+    "Pick the card box with golden designs, put it inside the basket for holding items.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "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.",
+    "Pick the card box with golden designs, place it in the basket for holding items, shift the basket for holding items.",
+    "Lift the card box with golden designs, drop it in the woven basket, then slightly relocate the woven basket."
+  ],
+  "unseen": [
+    "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 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 and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, 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.",
+    "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 medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the 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.",
+    "Pick up the rectangular playingcards pack 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 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.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the 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 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.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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 basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, 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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "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 basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Move the small packet of playingcards to the 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 put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the 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 basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the 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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, 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.",
+    "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.",
+    "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.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "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 small packet of playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Move the rectangular playingcards 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 oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, 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.",
+    "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.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "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 basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the 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 in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "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 oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode32.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f160d882f5b76cbc30cc0217731c1ce12e061a3
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small toycar for kids play, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the toycar with rounded compact shape, put it inside the basket with handle.",
+    "Place the toycar with purple tinted windows into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the pink toycar shaped like real car, place it in the basket for carrying things.",
+    "Use one arm to place the toycar with rounded compact shape in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the miniature pink car with black wheels in the basket with handle and pull the basket with handle away.",
+    "Pick the pink toycar shaped like real car, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the miniature pink car with black wheels, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Lift the hand-sized toycar with white roof bars, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the small toycar for kids play with one arm, drop the small toycar for kids play in the woven basket.",
+    "Pick and move the toycar with purple tinted windows, then shift the basket with loop handle.",
+    "Take the pink toycar, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Use the left arm to grab the pink car with purple windows, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick up the small toycar for kids play, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the pink car with purple windows in the basket with loop handle.",
+    "Grab the toycar with rounded compact shape and drop it in the light brown oval basket.",
+    "Pick the pink toycar, drop the pink toycar in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the toycar with rounded compact shape, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the toycar with rounded compact shape, set it into the woven basket.",
+    "Grab the small toycar for kids play, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the pink toycar with rounded corners and position it in the basket with handle, move the basket with handle slightly.",
+    "Use the left arm to pick the toycar with rounded compact shape, then use the right arm for the basket for holding items.",
+    "Lift the hand-sized toycar with white roof bars using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the pink toycar, drop it in the woven basket, shift the woven basket.",
+    "Set the small pink car with smooth texture in the basket for carrying things, and shift the basket for carrying things away.",
+    "Place the hand-sized toycar with white roof bars in the basket with loop handle, then grab the basket with loop handle.",
+    "Put the miniature pink car with black wheels in the basket with handle, then move the basket with handle away slightly.",
+    "Take the small pink car with smooth texture, put the small pink car with smooth texture into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the toycar with purple tinted windows and set it inside the brown basket.",
+    "Move the pink car with purple windows to the basket with loop handle, then shift the basket with loop handle.",
+    "Use one arm to grab the toycar made from smooth plastic, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the pink toycar with rounded corners and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the toycar with purple tinted windows, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the miniature pink car with black wheels, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Pick the small pink car with smooth texture, put it inside the basket with loop handle.",
+    "Place the pink toycar into the woven basket and push the woven basket slightly away.",
+    "Pick the miniature pink car with black wheels, place it in the smooth ribbed light brown basket.",
+    "Use one arm to place the pink car with purple windows in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Put the toycar with rounded compact shape in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the pink toycar, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the pink car with purple windows, put it in the woven basket, shift the woven basket a little.",
+    "Lift the small pink car with smooth texture, place it into the basket for carrying things, move the basket for carrying things.",
+    "Grab the small pink plastic toycar with one arm, drop the small pink plastic toycar in the basket for carrying things.",
+    "Pick and move the miniature pink car with black wheels, then shift the woven basket.",
+    "Take the pink toycar with rounded corners, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Use the left arm to grab the pink toycar shaped like real car, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the toycar made from smooth plastic, place it in the brown basket, grab the brown basket.",
+    "Use one arm to place the pink toycar shaped like real car in the brown basket.",
+    "Grab the pink toycar and drop it in the brown basket with woven ridges.",
+    "Pick the pink toycar shaped like real car, drop the pink toycar shaped like real car in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the hand-sized toycar with white roof bars, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the pink toycar with rounded corners, set it into the basket with handle.",
+    "Grab the pink car with purple windows, drop in the basket with handle, and move the basket with handle.",
+    "Pick the pink toycar with rounded corners and position it in the brown basket, move the brown basket slightly.",
+    "Use the left arm to pick the pink toycar shaped like real car, then use the right arm for the basket with loop handle.",
+    "Lift the pink toycar with rounded corners 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 small toycar for kids play, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Set the small pink car with smooth texture in the basket with loop handle, and shift the basket with loop handle away.",
+    "Place the pink toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Put the small pink car with smooth texture in the basket for holding items, then move the basket for holding items away slightly.",
+    "Take the small toycar for kids play, put the small toycar for kids play into the woven basket, shift the woven basket.",
+    "Pick up the toycar with purple tinted windows and set it inside the basket for carrying things.",
+    "Move the small pink car with smooth texture to the brown basket, then shift the brown basket.",
+    "Use one arm to grab the toycar with rounded compact shape, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick up the toycar with rounded compact shape and drop it in the woven basket, then move the woven basket.",
+    "Grab the small toycar for kids play, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the toycar made from smooth plastic, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the small pink plastic toycar, put it inside the wooden basket with curved handle.",
+    "Place the pink toycar shaped like real car into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the miniature pink car with black wheels, place it in the wooden basket with curved handle.",
+    "Use one arm to place the toycar made from smooth plastic in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Put the pink toycar shaped like real car in the basket for holding items and pull the basket for holding items away.",
+    "Pick the small pink plastic toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Pick up the toycar with rounded compact shape, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Lift the toycar made from smooth plastic, place it into the brown basket, move the brown basket.",
+    "Grab the pink car with purple windows with one arm, drop the pink car with purple windows in the smooth ribbed light brown basket.",
+    "Pick and move the pink toycar shaped like real car, then shift the basket for carrying things.",
+    "Take the pink car with purple windows, set it in the woven basket, shift the woven basket lightly.",
+    "Use the left arm to grab the pink toycar with rounded corners, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the miniature pink car with black wheels, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use one arm to place the toycar with purple tinted windows in the brown basket.",
+    "Grab the small toycar for kids play and drop it in the basket with loop handle.",
+    "Pick the small pink car with smooth texture, drop the small pink car with smooth texture in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the hand-sized toycar with white roof bars, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the small pink car with smooth texture, set it into the brown basket.",
+    "Grab the toycar made from smooth plastic, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the pink toycar and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Use the left arm to pick the small pink plastic toycar, then use the right arm for the basket for holding items.",
+    "Lift the hand-sized toycar with white roof bars using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Grab the pink car with purple windows, drop it in the basket for holding items, shift the basket for holding items.",
+    "Set the pink car with purple windows in the basket with handle, and shift the basket with handle away.",
+    "Place the small pink car with smooth texture in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Put the pink toycar shaped like real car in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Take the miniature pink car with black wheels, put the miniature pink car with black wheels into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the toycar with purple tinted windows and set it inside the basket made of woven wood.",
+    "Move the toycar made from smooth plastic to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the miniature pink car with black wheels, place it in the woven basket, then move the woven basket.",
+    "Pick up the hand-sized toycar with white roof bars and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the pink toycar shaped like real car, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Lift the miniature pink car with black wheels, drop it in the basket for carrying things, then slightly relocate the basket for carrying things."
+  ],
+  "unseen": [
+    "Pick up the pink toycar with white bumper, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the pink toycar with white bumper to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the pink toycar with white bumper in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the pink toycar with white bumper, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the pink toycar with white bumper in the basket with rounded edges and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the pink toycar with white bumper and drop in the medium basket with smooth texture.",
+    "Pick up the tiny pink car with four wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the pink toycar with white bumper to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the tiny pink car with four wheels in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires and drop in the basket with rounded edges.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the pink toycar with white bumper to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and place into the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the pink toycar with white bumper and drop in the basket with rounded edges.",
+    "Pick up the pink toycar with white bumper, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it in the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels and place into the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it into the basket with rounded edges.",
+    "Pick up the tiny pink car with four wheels and drop in the basket with rounded edges.",
+    "Pick up the pink toycar with white bumper, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the tiny pink car with four wheels to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and place into the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it into the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels and drop in the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the tiny pink car with four wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the compact toycar with shiny black tires to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the compact toycar with shiny black tires in the basket with rounded edges and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels and place into the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the tiny pink car with four wheels and drop in the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the pink toycar with white bumper, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the tiny pink car with four wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the pink toycar with white bumper in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires and put it in the oval basket with medium storage space.",
+    "Grab the pink toycar with white bumper and place into the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper and put it into the basket with rounded edges.",
+    "Pick up the tiny pink car with four wheels and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the compact toycar with shiny black tires, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the compact toycar with shiny black tires to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the compact toycar with shiny black tires in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the basket with rounded edges.",
+    "Grab the pink toycar with white bumper and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and place into the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels and put it into the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the tiny pink car with four wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the compact toycar with shiny black tires to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the compact toycar with shiny black tires in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it in the medium basket with smooth texture.",
+    "Grab the pink toycar with white bumper and place into the basket with rounded edges.",
+    "Grab the compact toycar with shiny black tires and put it into the medium basket with smooth texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the tiny pink car with four wheels, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the tiny pink car with four wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the tiny pink car with four wheels in the basket with rounded edges and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it in the medium basket with smooth texture.",
+    "Grab the tiny pink car with four wheels and place into the oval basket with medium storage space.",
+    "Grab the compact toycar with shiny black tires and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with shiny black tires and drop in the oval basket with medium storage space.",
+    "Pick up the compact toycar with shiny black tires, 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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode34.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..46efd4b4eb83d8eaaa5c9561ee8c111a9d9841f2
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small blue car-shaped toycar, set it into the rectangular basket with smooth surface.",
+    "Put the bright blue toycar in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the blue toycar with white windows, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Use the left arm to grab the plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Lift the toycar with smiling face design using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Grab the palm-sized plastic toycar, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the toycar with smiling face design in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the blue toycar with white windows, drop the blue toycar with white windows in the plastic basket, slide the plastic basket lightly.",
+    "Lift the plastic toycar, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Pick the lightweight toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Grab the lightweight toycar, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the lightweight toycar, then shift the plastic basket.",
+    "Place the toycar for kids into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Move the toycar with smiling face design to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the rectangular yellow basket.",
+    "Use one arm to place the small blue car-shaped toycar in the basket with black handle.",
+    "Pick the palm-sized plastic toycar, put it inside the rectangular basket with smooth surface.",
+    "Lift the small blue car-shaped toycar, place it into the carrying basket with black plastic handle, move the carrying basket with black plastic handle.",
+    "Take the toycar with rounded edges, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Use the left arm to pick the palm-sized plastic toycar, then use the right arm for the rectangular yellow basket.",
+    "Grab the toycar with black and orange wheels, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Place the blue toycar with white windows in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to grab the glossy blue toycar, place it in the handheld basket, then move the handheld basket.",
+    "Pick the blue toycar with white windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick up the toycar for kids, put it in the handheld basket, shift the handheld basket a little.",
+    "Take the blue toycar with white windows, put the blue toycar with white windows into the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the toycar with rounded edges and set it inside the basket with black handle.",
+    "Grab the toycar with rounded edges, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Set the lightweight toycar in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Put the lightweight toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the palm-sized plastic toycar and drop it in the yellow basket for carrying stuff.",
+    "Pick up the toycar with rounded edges and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick the toycar with black and orange wheels, place it in the yellow basket for carrying stuff.",
+    "Grab the small blue car-shaped toycar, set it into the basket with black handle.",
+    "Put the toycar with rounded edges in the bright yellow basket and pull the bright yellow basket away.",
+    "Pick up the toycar with black and orange wheels, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Use the left arm to grab the plastic toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the right arm.",
+    "Lift the blue toycar with white windows using the left arm, drop it in the carrying basket with black plastic handle, then push the carrying basket with black plastic handle via the right arm.",
+    "Grab the small blue car-shaped toycar, drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Use one arm to place the palm-sized plastic toycar in the yellow basket, adjust the yellow basket.",
+    "Pick the bright blue toycar, drop the bright blue toycar in the handheld basket, slide the handheld basket lightly.",
+    "Lift the small blue car-shaped toycar, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Pick the palm-sized plastic toycar and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Grab the plastic toycar, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick and move the lightweight toycar, then shift the basket with perforated sides.",
+    "Place the plastic toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Move the plastic toycar to the yellow basket, then shift the yellow basket.",
+    "Grab the glossy blue toycar with one arm, drop the glossy blue toycar in the yellow basket for carrying stuff.",
+    "Use one arm to place the lightweight toycar in the bright yellow basket.",
+    "Pick the small toycar, put it inside the rectangular yellow basket.",
+    "Lift the toycar with black and orange wheels, place it into the handheld basket, move the handheld basket.",
+    "Take the toycar with black and orange wheels, set it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle lightly.",
+    "Use the left arm to pick the plastic toycar, then use the right arm for the handheld basket.",
+    "Grab the small toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Place the toycar for kids in the basket with black handle, then grab the basket with black handle.",
+    "Use one arm to grab the small blue car-shaped toycar, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the small toycar, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the lightweight toycar, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Take the palm-sized plastic toycar, put the palm-sized plastic toycar into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the small toycar and set it inside the basket with arched black grip.",
+    "Grab the bright blue toycar, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Set the palm-sized plastic toycar in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Put the small toycar in the yellow basket, then move the yellow basket away slightly.",
+    "Grab the toycar with smiling face design and drop it in the basket with arched black grip.",
+    "Pick up the blue toycar with white windows and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the small blue car-shaped toycar, place it in the carrying basket with black plastic handle.",
+    "Grab the palm-sized plastic toycar, set it into the handheld basket.",
+    "Put the toycar with rounded edges in the handheld basket and pull the handheld basket away.",
+    "Pick up the glossy blue toycar, place it in the plastic basket, grab the plastic basket.",
+    "Use the left arm to grab the blue toycar with white windows, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Lift the plastic toycar using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Grab the plastic toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Use one arm to place the toycar with smiling face design in the yellow basket for carrying stuff, adjust the yellow basket for carrying stuff.",
+    "Pick the toycar with smiling face design, drop the toycar with smiling face design in the handheld basket, slide the handheld basket lightly.",
+    "Lift the toycar with rounded edges, drop it in the yellow basket for carrying stuff, then slightly relocate the yellow basket for carrying stuff.",
+    "Pick the toycar with rounded edges and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Grab the bright blue toycar, drop it in the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the toycar for kids, then shift the handheld basket.",
+    "Place the small toycar into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Move the palm-sized plastic toycar to the bright yellow basket, then shift the bright yellow basket.",
+    "Grab the bright blue toycar with one arm, drop the bright blue toycar in the basket with black handle.",
+    "Use one arm to place the blue toycar with white windows in the carrying basket with black plastic handle.",
+    "Pick the bright blue toycar, put it inside the yellow basket for carrying stuff.",
+    "Lift the small blue car-shaped toycar, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Take the toycar with rounded edges, set it in the plastic basket, shift the plastic basket lightly.",
+    "Use the left arm to pick the glossy blue toycar, then use the right arm for the medium yellow basket with slots.",
+    "Grab the toycar with smiling face design, place it in the basket with black handle, then move the basket with black handle away.",
+    "Place the blue toycar with white windows in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Use one arm to grab the glossy blue toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the toycar with black and orange wheels, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick up the glossy blue toycar, put it in the plastic basket, shift the plastic basket a little.",
+    "Take the small blue car-shaped toycar, put the small blue car-shaped toycar into the handheld basket, shift the handheld basket.",
+    "Pick up the bright blue toycar and set it inside the basket with perforated sides.",
+    "Grab the toycar with black and orange wheels, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Set the toycar with rounded edges in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Put the toycar with rounded edges in the bright yellow basket, then move the bright yellow basket away slightly.",
+    "Grab the toycar for kids and drop it in the handheld basket.",
+    "Pick up the palm-sized plastic toycar and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the small toycar, place it in the handheld basket.",
+    "Grab the blue toycar with white windows, set it into the rectangular basket with smooth surface."
+  ],
+  "unseen": [
+    "Grab the toycar with smooth finish and place into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with smooth finish in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with smooth finish and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with smooth finish, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with orange wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with smooth finish, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with smooth finish and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and put it into the medium-sized basket with perforated texture.",
+    "Grab the blue toycar and place into the medium-sized basket with perforated texture.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Grab the toycar with orange wheels and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the medium-sized basket with perforated texture.",
+    "Grab the blue toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with smooth finish and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the blue toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the toycar with orange wheels in the yellow basket with open slots and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the blue toycar and drop in the yellow basket with open slots.",
+    "Use one arm to grab the blue toycar, place it in the yellow basket with open slots.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the blue toycar and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with smooth finish, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the toycar with orange wheels in the yellow rectangular basket with dual grips and move it.",
+    "Grab the blue toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the blue toycar, place it in the yellow rectangular basket with dual grips.",
+    "Grab the blue toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots.",
+    "Move the blue toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with orange wheels and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with smooth finish and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels and place into the yellow rectangular basket with dual grips.",
+    "Move the toycar with orange wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with orange wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Place the blue toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the blue toycar and put it in the yellow basket with open slots.",
+    "Pick up the toycar with smooth finish and drop in the yellow basket with open slots.",
+    "Use one arm to grab the toycar with orange wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with orange wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and put it into the yellow basket with open slots.",
+    "Grab the toycar with orange wheels and place into the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode44.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcb158f230bb6cb4f9771ba7ac0cad3277160bed
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the smooth green toycar, drop the smooth green toycar in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the shiny green toycar, place it in the basket for carrying things.",
+    "Take the green toycar made from plastic, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Grab the small green toycar and drop it in the basket for holding items.",
+    "Place the small green toycar into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the miniature bright green toycar, put it inside the basket with handle.",
+    "Grab the small plastic green toycar, place it in the basket with handle, then move the basket with handle away.",
+    "Put the small plastic green toycar in the basket for carrying things and pull the basket for carrying things away.",
+    "Use one arm to place the green toycar in the basket with handle.",
+    "Put the small plastic green toycar in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the toycar with black wheels, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use the right arm to grab the green toycar made from plastic, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Grab the green toycar made from plastic, set it into the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Lift the tiny green toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use the right arm to pick the toycar with black wheels, then use the left arm for the wooden basket with curved handle.",
+    "Lift the shiny green toycar, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick and move the tiny green toycar, then shift the brown basket.",
+    "Grab the tiny green toycar, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the small plastic green toycar, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Lift the tiny green toycar, place it into the woven basket, move the woven basket.",
+    "Pick up the shiny green toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the tiny green toycar, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Take the green toycar, put the green toycar into the light brown oval basket, shift the light brown oval basket.",
+    "Set the green car-shaped toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the miniature bright green toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use one arm to grab the tiny green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the green toycar made from plastic in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the smooth green toycar to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick the green toycar made from plastic, place it in the brown basket, shift the brown basket.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the basket made of woven wood.",
+    "Place the toycar with black wheels in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick the smooth green toycar, drop the smooth green toycar in the basket with handle, slide the basket with handle lightly.",
+    "Pick the shiny green toycar, place it in the light brown oval basket.",
+    "Take the toycar with black wheels, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the small green toycar and drop it in the oval-shaped basket with woven body.",
+    "Place the toycar with black roof and wheels into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Pick the green toycar, put it inside the brown basket with woven ridges.",
+    "Grab the toycar with black wheels, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Put the shiny green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the playful green toycar in the brown basket.",
+    "Put the small green toycar in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the tiny green toycar, drop it in the basket for holding items, then move the basket for holding items.",
+    "Use the right arm to grab the playful green toycar, place it in the basket for holding items, and move the basket for holding items using the left arm.",
+    "Grab the small green toycar, set it into the wooden basket with curved handle.",
+    "Pick the small plastic green toycar and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Lift the shiny green toycar using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use the right arm to pick the small plastic green toycar, then use the left arm for the basket for carrying things.",
+    "Lift the miniature bright green toycar, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick and move the small plastic green toycar, then shift the light brown oval basket.",
+    "Grab the shiny green toycar, drop it in the basket with handle, shift the basket with handle.",
+    "Pick up the smooth green toycar, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Lift the tiny green toycar, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick up the green car-shaped toycar, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the toycar with black wheels, drop in the brown basket, and move the brown basket.",
+    "Take the small plastic green toycar, put the small plastic green toycar into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Set the playful green toycar in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Pick up the small green toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar made from plastic and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to grab the green toycar, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the toycar with black roof and wheels in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Move the small green toycar to the basket with handle, then shift the basket with handle.",
+    "Pick the small green toycar, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the miniature bright green toycar with one arm, drop the miniature bright green toycar in the basket for carrying things.",
+    "Place the small plastic green toycar in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Pick the green toycar made from plastic, drop the green toycar made from plastic in the woven basket, slide the woven basket lightly.",
+    "Pick the small plastic green toycar, place it in the basket with loop handle.",
+    "Take the green toycar made from plastic, set it in the basket with handle, shift the basket with handle lightly.",
+    "Grab the smooth green toycar and drop it in the brown basket.",
+    "Place the toycar with black roof and wheels into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Pick the tiny green toycar, put it inside the woven basket.",
+    "Grab the toycar with black roof and wheels, place it in the basket for holding items, then move the basket for holding items away.",
+    "Put the green toycar in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use one arm to place the green car-shaped toycar in the basket for holding items.",
+    "Put the green toycar made from plastic in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the toycar with black roof and wheels, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Use the right arm to grab the shiny green toycar, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Grab the smooth green toycar, set it into the brown basket.",
+    "Pick the toycar with black roof and wheels and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Lift the green toycar using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Use the right arm to pick the green car-shaped toycar, then use the left arm for the smooth ribbed light brown basket.",
+    "Lift the shiny green toycar, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick and move the green toycar made from plastic, then shift the oval-shaped basket with woven body.",
+    "Grab the green toycar made from plastic, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the tiny green toycar, place it in the brown basket, grab the brown basket.",
+    "Lift the tiny green toycar, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Pick up the miniature bright green toycar, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the toycar with black roof and wheels, drop in the basket for holding items, and move the basket for holding items.",
+    "Take the green toycar made from plastic, put the green toycar made from plastic into the light brown oval basket, shift the light brown oval basket.",
+    "Set the toycar with black roof and wheels in the brown basket, and shift the brown basket away.",
+    "Pick up the green car-shaped toycar and set it inside the basket for holding items.",
+    "Pick up the green toycar and drop it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to grab the green toycar, place it in the basket for holding items, then move the basket for holding items.",
+    "Use one arm to place the small plastic green toycar in the light brown oval basket, adjust the light brown oval basket.",
+    "Move the miniature bright green toycar to the basket with handle, then shift the basket with handle.",
+    "Pick the playful green toycar, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the basket made of woven wood.",
+    "Place the green toycar in the brown basket, then grab the brown basket.",
+    "Pick the tiny green toycar, drop the tiny green toycar in the brown basket, slide the brown basket lightly."
+  ],
+  "unseen": [
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the plastic toycar and place into the medium basket with smooth texture.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the bright green toycar and drop in the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the bright green toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the toycar with rounded edges and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the medium basket with smooth texture.",
+    "Grab the plastic toycar and place into the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the bright green toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Place the plastic toycar in the oval basket with medium storage space and move it.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded edges, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the bright green toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the bright green toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the basket with rounded edges.",
+    "Pick up the plastic toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the plastic toycar, place it in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and place into the basket with rounded edges.",
+    "Place the plastic toycar in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the basket with rounded edges.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the bright green toycar, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the oval basket with medium storage space.",
+    "Place the bright green toycar in the medium basket with smooth texture and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the bright green toycar and drop in the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the toycar with rounded edges, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the bright green toycar and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded edges, place it in the basket with rounded edges.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Move the toycar with rounded edges to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the medium basket with smooth texture.",
+    "Grab the bright green toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the plastic toycar and put it in the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium basket with smooth texture.",
+    "Grab the bright green toycar and place into the basket with rounded edges.",
+    "Place the toycar with rounded edges in the basket with rounded edges and move it.",
+    "Move the plastic toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded edges, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the toycar with rounded edges and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded edges and put it into the medium basket with smooth texture.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the plastic toycar and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the plastic toycar, place it in the medium basket with smooth texture.",
+    "Grab the toycar with rounded edges and place into the medium basket with smooth texture.",
+    "Place the bright green toycar in the basket with rounded edges and move it.",
+    "Move the bright green toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the plastic toycar, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the plastic toycar and drop in the oval basket with medium storage space.",
+    "Grab the plastic toycar and put it into the basket with rounded edges.",
+    "Pick up the bright green toycar, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode45.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3190f473c7bf3d985b55a5b84b3b6e1e88c497
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the blue playingcards box in the basket with black handle, adjust the basket with black handle.",
+    "Put the blue playingcards box in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Place the blue pack holding playingcards into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Grab the smooth playingcards holder, set it into the medium yellow basket with slots.",
+    "Pick and move the blue playingcards box, then shift the medium yellow basket with slots.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the playingcards box with white symbols, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Grab the blue carton for playingcards and drop it in the plastic basket.",
+    "Pick up the rectangular blue playingcards case, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick up the blue carton for playingcards and set it inside the plastic basket.",
+    "Take the playingcards pack with blue top, set it in the basket with arched black grip, shift the basket with arched black grip lightly.",
+    "Grab the playingcards box with white symbols, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the basket with arched black grip.",
+    "Set the blue carton for playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the card box with golden designs, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Lift the blue and white playingcards packaging, drop it in the basket with arched black grip, then slightly relocate the basket with arched black grip.",
+    "Pick the card box with golden designs, place it in the basket with perforated sides.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the palm-sized playingcards carton in the yellow basket.",
+    "Pick the blue playingcards box and position it in the yellow basket for carrying stuff, move the yellow basket for carrying stuff slightly.",
+    "Lift the box of playingcards using the left arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the right arm.",
+    "Lift the card box with golden designs, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the plastic basket, slide the plastic basket lightly.",
+    "Pick up the playingcards box with white symbols, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Pick the small playingcards container, put it inside the basket with black handle.",
+    "Take the box of playingcards, put the box of playingcards into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Move the rectangular blue playingcards case to the handheld basket, then shift the handheld basket.",
+    "Put the box of playingcards in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use the left arm to pick the blue playingcards box, then use the right arm for the yellow basket for carrying stuff.",
+    "Place the blue carton for playingcards in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Grab the blue playingcards box, drop it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Put the blue pack holding playingcards in the yellow basket, then move the yellow basket away slightly.",
+    "Place the blue and white playingcards packaging into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Grab the palm-sized playingcards carton, set it into the rectangular basket with smooth surface.",
+    "Pick and move the smooth playingcards holder, then shift the basket with arched black grip.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Grab the smooth playingcards holder, drop it in the plastic basket, then move the plastic basket.",
+    "Grab the playingcards pack with blue top, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Grab the blue carton for playingcards and drop it in the yellow basket.",
+    "Pick up the blue playingcards box, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Pick up the blue carton for playingcards and set it inside the bright yellow basket.",
+    "Take the box of playingcards, set it in the plastic basket, shift the plastic basket lightly.",
+    "Grab the playingcards box with white symbols, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Grab the blue pack holding playingcards with one arm, drop the blue pack holding playingcards in the bright yellow basket.",
+    "Set the blue carton for playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the blue pack holding playingcards, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the playingcards pack with blue top, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Pick the blue playingcards box, place it in the basket with arched black grip.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the small playingcards container in the bright yellow basket.",
+    "Pick the blue playingcards box and position it in the plastic basket, move the plastic basket slightly.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Lift the blue and white playingcards packaging, place it into the plastic basket, move the plastic basket.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the rectangular basket with smooth surface, slide the rectangular basket with smooth surface lightly.",
+    "Pick up the blue pack holding playingcards, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Pick the blue carton for playingcards, put it inside the basket with perforated sides.",
+    "Take the box of playingcards, put the box of playingcards into the plastic basket, shift the plastic basket.",
+    "Move the box of playingcards to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Put the smooth playingcards holder in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick up the blue carton for playingcards and drop it in the basket with black handle, then move the basket with black handle.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the carrying basket with black plastic handle.",
+    "Place the playingcards box with white symbols in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the box of playingcards, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Use one arm to place the playingcards box with white symbols in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Put the playingcards box with white symbols in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Place the rectangular blue playingcards case into the yellow basket for carrying stuff and push the yellow basket for carrying stuff slightly away.",
+    "Grab the small playingcards container, set it into the handheld basket.",
+    "Pick and move the playingcards pack with blue top, then shift the carrying basket with black plastic handle.",
+    "Use the left arm to grab the playingcards box with white symbols, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Grab the blue and white playingcards packaging, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the blue carton for playingcards, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Grab the smooth playingcards holder and drop it in the plastic basket.",
+    "Pick up the palm-sized playingcards carton, put it in the basket with perforated sides, shift the basket with perforated sides a little.",
+    "Pick up the smooth playingcards holder and set it inside the rectangular basket with smooth surface.",
+    "Take the card box with golden designs, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Grab the blue playingcards box, place it in the plastic basket, then move the plastic basket away.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the handheld basket.",
+    "Set the blue carton for playingcards in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick the card box with golden designs, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the playingcards box with white symbols, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Pick the box of playingcards, place it in the yellow basket for carrying stuff.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use one arm to place the small playingcards container in the handheld basket.",
+    "Pick the playingcards box with white symbols and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Lift the box of playingcards using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Lift the small playingcards container, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Pick up the blue pack holding playingcards, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Pick the blue carton for playingcards, put it inside the plastic basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket with arched black grip, shift the basket with arched black grip.",
+    "Move the playingcards pack with blue top to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Put the box of playingcards in the basket with black handle and pull the basket with black handle away.",
+    "Pick up the box of playingcards and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the yellow basket for carrying stuff.",
+    "Place the blue and white playingcards packaging in the basket with perforated sides, then grab the basket with perforated sides.",
+    "Grab the rectangular blue playingcards case, drop it in the handheld basket, shift the handheld basket.",
+    "Use one arm to place the palm-sized playingcards carton in the yellow basket, adjust the yellow basket."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow basket with open slots.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the yellow basket with open slots.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Pick up the small packet of playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Grab the small packet of playingcards and put it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the small packet of playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the medium-sized basket with perforated texture and move it.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode47.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a297c9d11d1594aed1363aed64a56a06ce16447
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular blue playingcards case in the basket with loop handle, then grab the basket with loop handle.",
+    "Move the smooth playingcards holder to the brown basket, then shift the brown basket.",
+    "Pick the palm-sized playingcards carton and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick the blue pack holding playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the playingcards box with white symbols in the basket with handle.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Set the rectangular blue playingcards case in the light brown oval basket, and shift the light brown oval basket away.",
+    "Use one arm to place the playingcards box with white symbols in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Grab the box of playingcards, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the playingcards pack with blue top and set it inside the basket made of woven wood.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the basket with handle.",
+    "Pick up the blue pack holding playingcards, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the box of playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Grab the blue playingcards box, drop in the basket for holding items, and move the basket for holding items.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick up the smooth playingcards holder and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Pick the blue playingcards box, place it in the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols and drop it in the wooden basket with curved handle.",
+    "Pick and move the box of playingcards, then shift the basket made of woven wood.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the box of playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the small playingcards container in the woven basket and pull the woven basket away.",
+    "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.",
+    "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 small playingcards container, put it inside the brown basket with woven ridges.",
+    "Place the blue playingcards box into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the palm-sized playingcards carton, set it into the oval-shaped basket with woven body.",
+    "Lift the small playingcards container, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the card box with golden designs in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Move the blue carton for playingcards to the basket for holding items, then shift the basket for holding items.",
+    "Pick the blue and white playingcards packaging and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue and white playingcards packaging, place it in the brown basket, shift the brown basket.",
+    "Use one arm to place the smooth playingcards holder in the basket for holding items.",
+    "Grab the playingcards box with white symbols, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Set the smooth playingcards holder in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Use one arm to place the blue playingcards box in the light brown oval basket, adjust the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick up the rectangular blue playingcards case 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 brown basket.",
+    "Pick up the small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Grab the blue and white playingcards packaging, drop in the woven basket, and move the woven basket.",
+    "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.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick up the card box with golden designs and drop it in the brown basket, then move the brown basket.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the light brown oval basket.",
+    "Pick the blue playingcards box, place it in the basket for carrying things.",
+    "Grab the blue carton for playingcards and drop it in the smooth ribbed light brown basket.",
+    "Pick and move the blue pack holding playingcards, then shift the basket for holding items.",
+    "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.",
+    "Put the small playingcards container in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "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 basket with handle, shift the basket with handle.",
+    "Pick the box of playingcards, put it inside the wooden basket with curved handle.",
+    "Place the smooth playingcards holder into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Grab the playingcards box with white symbols, set it into the brown basket with woven ridges.",
+    "Lift the box of playingcards, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Take the playingcards box with white symbols, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Grab the playingcards box with white symbols, drop it in the brown basket, shift the brown basket.",
+    "Place the small playingcards container in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Move the blue and white playingcards packaging to the basket with loop handle, then shift the basket with loop handle.",
+    "Pick the blue pack holding playingcards and position it in the brown basket, move the brown basket slightly.",
+    "Pick the blue playingcards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use one arm to place the smooth playingcards holder in the light brown oval basket.",
+    "Grab the small playingcards container, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Set the blue carton for playingcards in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Use one arm to place the blue and white playingcards packaging in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the rectangular blue playingcards case, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the blue and white playingcards packaging, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the blue playingcards box and set it inside the basket with loop handle.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the blue pack holding playingcards, place it in the brown basket, grab the brown basket.",
+    "Pick up the playingcards pack with blue top, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the palm-sized playingcards carton, drop in the basket with loop handle, and move the basket with loop handle.",
+    "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 the left arm to grab the blue carton for playingcards, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick up the card box with golden designs and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the woven basket.",
+    "Pick the smooth playingcards holder, place it in the basket with loop handle.",
+    "Grab the blue playingcards box and drop it in the basket made of woven wood.",
+    "Pick and move the small playingcards container, then shift the basket made of woven wood.",
+    "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 rectangular blue playingcards case in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "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.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Place the rectangular blue playingcards case into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Grab the smooth playingcards holder, set it into the woven basket.",
+    "Lift the blue pack holding playingcards, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Take the palm-sized playingcards carton, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the palm-sized playingcards carton, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Place the blue pack holding playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body."
+  ],
+  "unseen": [
+    "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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it 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.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the 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, 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 rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the 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.",
+    "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 medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the 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.",
+    "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 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 and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the 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, 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 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 pack in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the 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.",
+    "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.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "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 basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the 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, 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 rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack 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 pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the 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, 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the 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, 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.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the 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 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.",
+    "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/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode5.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd43be22cd3cba2235a5eb615d2fbd1909f3025
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact red playingcards pack and position it in the woven basket, move the woven basket slightly.",
+    "Put the compact red playingcards pack in the smooth ribbed light brown basket and pull the smooth ribbed light brown basket away.",
+    "Grab the red and yellow playingcards case and drop it in the light brown oval basket.",
+    "Lift the hand-sized playingcards container, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Put the rectangular playingcards case in the brown basket, then move the brown basket away slightly.",
+    "Lift the compact red playingcards pack, place it into the basket for carrying things, move the basket for carrying things.",
+    "Lift the playingcards box with white accents using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the box for playingcards, set it into the light brown oval basket.",
+    "Use one arm to place the yellow and red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the yellow and red playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Use the left arm to grab the playingcards storage box, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick the yellow and red playingcards box, place it in the smooth ribbed light brown basket.",
+    "Place the hand-sized playingcards container in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Place the compact red playingcards pack into the basket with handle and push the basket with handle slightly away.",
+    "Set the box for playingcards in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the compact red playingcards pack in the brown basket.",
+    "Grab the playingcards storage box, place it in the woven basket, then move the woven basket away.",
+    "Grab the red playingcards box, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick and move the red and yellow playingcards case, then shift the basket for holding items.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the compact red playingcards pack, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the box for playingcards, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the basket with loop handle.",
+    "Move the yellow and red playingcards box to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the playingcards storage box, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the glossy rectangular playingcards box, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the basket for holding items, slide the basket for holding items lightly.",
+    "Pick up the glossy rectangular playingcards box and drop it in the basket with handle, then move the basket with handle.",
+    "Pick the yellow and red playingcards box, put it inside the smooth ribbed light brown basket.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the brown basket with woven ridges.",
+    "Use one arm to grab the playingcards box with white accents, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the hand-sized playingcards container and set it inside the basket with handle.",
+    "Grab the yellow and red playingcards box, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Pick the playingcards box with white accents and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Put the glossy rectangular playingcards box in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Grab the smooth playingcards pack and drop it in the light brown oval basket.",
+    "Lift the rectangular playingcards case, drop it in the light brown oval basket, then slightly relocate the light brown oval basket.",
+    "Put the glossy rectangular playingcards box in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Lift the smooth playingcards pack, place it into the basket with loop handle, move the basket with loop handle.",
+    "Lift the red 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.",
+    "Grab the glossy rectangular playingcards box, set it into the basket made of woven wood.",
+    "Use one arm to place the hand-sized playingcards container in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick up the hand-sized playingcards container, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Use the left arm to grab the small playingcards pack, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Pick the red and yellow playingcards case, place it in the brown basket.",
+    "Place the hand-sized playingcards container in the light brown oval basket, then grab the light brown oval basket.",
+    "Place the red and yellow playingcards case into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Set the red playingcards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Use one arm to place the red and yellow playingcards case in the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards pack, place it in the brown basket, then move the brown basket away.",
+    "Grab the playingcards storage box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick and move the box for playingcards, then shift the light brown oval basket.",
+    "Take the box for playingcards, put the box for playingcards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the box for playingcards, place it in the brown basket, shift the brown basket.",
+    "Grab the smooth playingcards pack, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the compact red playingcards pack with one arm, drop the compact red playingcards pack in the basket with loop handle.",
+    "Move the rectangular playingcards case to the basket with handle, then shift the basket with handle.",
+    "Take the smooth playingcards pack, set it in the brown basket, shift the brown basket lightly.",
+    "Pick up the playingcards box with white accents, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Pick up the small playingcards pack and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the small playingcards pack, put it inside the oval-shaped basket with woven body.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the smooth ribbed light brown basket.",
+    "Use one arm to grab the compact red playingcards pack, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the hand-sized playingcards container and set it inside the light brown oval basket.",
+    "Grab the yellow and red playingcards box, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the red playingcards box and position it in the brown basket, move the brown basket slightly.",
+    "Put the rectangular playingcards case in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Grab the red playingcards box and drop it in the brown basket.",
+    "Lift the playingcards storage box, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Put the rectangular playingcards case in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Lift the red and yellow playingcards case, place it into the basket for holding items, move the basket for holding items.",
+    "Lift the red and yellow playingcards case using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the smooth playingcards pack, set it into the basket made of woven wood.",
+    "Use one arm to place the red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the box for playingcards, place it in the basket with handle, grab the basket with handle.",
+    "Use the left arm to grab the rectangular playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick the hand-sized playingcards container, place it in the basket made of woven wood.",
+    "Place the glossy rectangular playingcards box in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Place the playingcards storage box into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the glossy rectangular playingcards box in the brown basket, and shift the brown basket away.",
+    "Use one arm to place the smooth playingcards pack in the wooden basket with curved handle.",
+    "Grab the compact red playingcards pack, place it in the woven basket, then move the woven basket away.",
+    "Grab the red playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick and move the glossy rectangular playingcards box, then shift the light brown oval basket.",
+    "Take the glossy rectangular playingcards box, put the glossy rectangular playingcards box into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick the playingcards box with white accents, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the compact red playingcards pack, drop it in the basket for holding items, shift the basket for holding items.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the basket for carrying things.",
+    "Move the compact red playingcards pack to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Take the yellow and red playingcards box, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Pick up the box for playingcards, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the brown basket, slide the brown basket lightly.",
+    "Pick up the compact red playingcards pack and drop it in the woven basket, then move the woven basket.",
+    "Pick the glossy rectangular playingcards box, put it inside the brown basket with woven ridges.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the basket for carrying things.",
+    "Use one arm to grab the playingcards storage box, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the playingcards storage box and set it inside the basket made of woven wood.",
+    "Grab the rectangular playingcards case, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the red playingcards box and position it in the brown basket, move the brown basket slightly."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode6.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..81220cbf34d6e3f8393b03cb0ff6d1dbf9f04060
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the brown basket.",
+    "Pick and move the rectangular box for card storage, then shift the basket for carrying things.",
+    "Grab the box with cards inside, drop it in the brown basket, shift the brown basket.",
+    "Put the small black box with cards in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the black box with rectangular shape, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the small black box with cards in the oval-shaped basket with woven body.",
+    "Grab the compact box for playing cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Grab the palm-sized box for playing cards, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick up the box with cards inside, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Lift the rectangular box for card storage, place it into the basket for holding items, move the basket for holding items.",
+    "Pick up the small black box with cards, put it in the woven basket, shift the woven basket a little.",
+    "Take the black box with rectangular shape, put the black box with rectangular shape into the basket with handle, shift the basket with handle.",
+    "Use one arm to grab the box holding playing cards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the black box with rectangular shape using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Pick the cardboard playing cards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick up the cardboard playing cards box and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the light brown oval basket.",
+    "Move the small black box with cards to the basket for holding items, then shift the basket for holding items.",
+    "Place the palm-sized box for playing cards into the basket for holding items and push the basket for holding items slightly away.",
+    "Pick the compact box for playing cards and position it in the oval-shaped basket with woven body, move the oval-shaped basket with woven body slightly.",
+    "Place the black playing cards box in the basket for holding items, then grab the basket for holding items.",
+    "Pick up the black box with rectangular shape and set it inside the basket with handle.",
+    "Use one arm to place the black playing cards box in the basket for holding items, adjust the basket for holding items.",
+    "Pick the playing cards box with gold text, drop the playing cards box with gold text in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the rectangular box for card storage, set it into the basket made of woven wood.",
+    "Pick the small black box with cards, put it inside the brown basket with woven ridges.",
+    "Set the palm-sized box for playing cards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the rectangle-shaped cards box and drop it in the smooth ribbed light brown basket.",
+    "Lift the black playing cards box, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick the black playing cards box, place it in the woven basket.",
+    "Put the rectangle-shaped cards box in the brown basket and pull the brown basket away.",
+    "Use the right arm to grab the black box with rectangular shape, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Take the box holding playing cards, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the woven basket.",
+    "Pick and move the smooth black cards container, then shift the oval-shaped basket with woven body.",
+    "Grab the black playing cards box, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Put the box holding playing cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the black box with rectangular shape, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Use one arm to place the black playing cards box in the wooden basket with curved handle.",
+    "Grab the black playing cards box, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the cardboard playing cards box, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick up the rectangle-shaped cards box, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Lift the box holding playing cards, place it into the woven basket, move the woven basket.",
+    "Pick up the smooth black cards container, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Take the black playing cards box, put the black playing cards box into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the box holding playing cards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Lift the palm-sized box for playing cards using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick the rectangular box for card storage, place it in the basket with handle, shift the basket with handle.",
+    "Pick up the black box with rectangular shape and drop it in the brown basket, then move the brown basket.",
+    "Grab the palm-sized box for playing cards with one arm, drop the palm-sized box for playing cards in the brown basket.",
+    "Move the box with cards inside to the basket for holding items, then shift the basket for holding items.",
+    "Place the palm-sized box for playing cards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Pick the black playing cards box and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Place the box holding playing cards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the cardboard playing cards box and set it inside the basket made of woven wood.",
+    "Use one arm to place the small black box with cards in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the brown basket, slide the brown basket lightly.",
+    "Grab the compact box for playing cards, set it into the basket with handle.",
+    "Pick the box with cards inside, put it inside the smooth ribbed light brown basket.",
+    "Set the black playing cards box in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the smooth black cards container and drop it in the basket for carrying things.",
+    "Lift the box holding playing cards, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Pick the black box with rectangular shape, place it in the smooth ribbed light brown basket.",
+    "Put the playing cards box with gold text in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the right arm to grab the box with cards inside, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Take the compact box for playing cards, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Use the right arm to pick the small black box with cards, then use the left arm for the brown basket.",
+    "Pick and move the small black box with cards, then shift the basket for carrying things.",
+    "Grab the palm-sized box for playing cards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the compact box for playing cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the rectangular box for card storage, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Use one arm to place the compact box for playing cards in the basket for holding items.",
+    "Grab the palm-sized box for playing cards, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Grab the black box with rectangular shape, drop in the woven basket, and move the woven basket.",
+    "Pick up the rectangle-shaped cards box, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Lift the compact box for playing cards, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the palm-sized box for playing cards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the compact box for playing cards, put the compact box for playing cards into the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the black box with rectangular shape, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the cardboard playing cards box using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Pick the rectangular box for card storage, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the compact box for playing cards and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the small black box with cards with one arm, drop the small black box with cards in the wooden basket with curved handle.",
+    "Move the cardboard playing cards box to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Place the rectangle-shaped cards box into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Pick the black playing cards box and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Place the rectangular box for card storage in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Pick up the playing cards box with gold text and set it inside the brown basket with woven ridges.",
+    "Use one arm to place the black playing cards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick the box with cards inside, drop the box with cards inside in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Grab the compact box for playing cards, set it into the basket with handle.",
+    "Pick the rectangle-shaped cards box, put it inside the oval-shaped basket with woven body.",
+    "Set the rectangular box for card storage in the basket with handle, and shift the basket with handle away.",
+    "Grab the compact box for playing cards and drop it in the basket made of woven wood.",
+    "Lift the black playing cards box, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick the playing cards box with gold text, place it in the basket made of woven wood.",
+    "Put the rectangle-shaped cards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Use the right arm to grab the black playing cards box, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Take the palm-sized box for playing cards, set it in the brown basket, shift the brown basket lightly.",
+    "Use the right arm to pick the palm-sized box for playing cards, then use the left arm for the brown basket."
+  ],
+  "unseen": [
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the black box with smooth surface and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the basket with rounded edges.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode7.json b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..477ef79c1d3314cd774fd4f44e453d453e5be022
--- /dev/null
+++ b/raw/robotwin_stdb_cc/place_object_basket/stdb_cc_scene3/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small playingcards pack, drop it in the rectangular yellow basket, then slightly relocate the rectangular yellow basket.",
+    "Lift the red and yellow playingcards case, place it into the plastic basket, move the plastic basket.",
+    "Use one arm to place the smooth playingcards pack in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Put the glossy rectangular playingcards box in the basket with arched black grip, then move the basket with arched black grip away slightly.",
+    "Place the playingcards box with white accents in the basket with black handle, then grab the basket with black handle.",
+    "Pick up the playingcards box with white accents, put it in the handheld basket, shift the handheld basket a little.",
+    "Pick the red and yellow playingcards case and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Put the rectangular playingcards case in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Pick the yellow and red playingcards box, put it inside the bright yellow basket.",
+    "Pick up the glossy rectangular playingcards box and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the red and yellow playingcards case and set it inside the basket with perforated sides.",
+    "Grab the playingcards storage box, place it in the basket with perforated sides, then move the basket with perforated sides away.",
+    "Use the left arm to pick the box for playingcards, then use the right arm for the yellow basket for carrying stuff.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the bright yellow basket, shift the bright yellow basket.",
+    "Pick and move the playingcards box with white accents, then shift the medium yellow basket with slots.",
+    "Place the rectangular playingcards case into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick the compact red playingcards pack, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the red and yellow playingcards case, place it in the rectangular yellow basket.",
+    "Move the rectangular playingcards case to the yellow basket, then shift the yellow basket.",
+    "Grab the hand-sized playingcards container and drop it in the carrying basket with black plastic handle.",
+    "Set the rectangular playingcards case in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Lift the yellow and red playingcards box using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Grab the rectangular playingcards case, set it into the rectangular basket with smooth surface.",
+    "Grab the rectangular playingcards case with one arm, drop the rectangular playingcards case in the basket with perforated sides.",
+    "Pick the playingcards box with white accents, drop the playingcards box with white accents in the yellow basket, slide the yellow basket lightly.",
+    "Grab the glossy rectangular playingcards box, drop it in the handheld basket, shift the handheld basket.",
+    "Take the playingcards box with white accents, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Grab the red playingcards box, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Use one arm to grab the rectangular playingcards case, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick up the hand-sized playingcards container, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Use one arm to place the box for playingcards in the plastic basket.",
+    "Grab the hand-sized playingcards container, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Lift the hand-sized playingcards container, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Lift the box for playingcards, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Use one arm to place the small playingcards pack in the plastic basket, adjust the plastic basket.",
+    "Put the box for playingcards in the plastic basket, then move the plastic basket away slightly.",
+    "Place the red and yellow playingcards case in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Pick up the yellow and red playingcards box, put it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface a little.",
+    "Pick the rectangular playingcards case and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Put the hand-sized playingcards container in the yellow basket and pull the yellow basket away.",
+    "Pick the small playingcards pack, put it inside the plastic basket.",
+    "Pick up the glossy rectangular playingcards box and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick up the playingcards box with white accents and set it inside the basket with black handle.",
+    "Grab the hand-sized playingcards container, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the handheld basket.",
+    "Take the box for playingcards, put the box for playingcards into the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick and move the hand-sized playingcards container, then shift the basket with black handle.",
+    "Place the rectangular playingcards case into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Pick the red and yellow playingcards case, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the box for playingcards, place it in the rectangular yellow basket.",
+    "Move the smooth playingcards pack to the plastic basket, then shift the plastic basket.",
+    "Grab the yellow and red playingcards box and drop it in the carrying basket with black plastic handle.",
+    "Set the box for playingcards in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Lift the playingcards box with white accents using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Grab the rectangular playingcards case, set it into the basket with perforated sides.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the carrying basket with black plastic handle.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Grab the smooth playingcards pack, drop it in the basket with black handle, shift the basket with black handle.",
+    "Take the hand-sized playingcards container, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Grab the box for playingcards, drop in the rectangular yellow basket, and move the rectangular yellow basket.",
+    "Use one arm to grab the smooth playingcards pack, place it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Pick up the red and yellow playingcards case, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Use one arm to place the playingcards box with white accents in the medium yellow basket with slots.",
+    "Grab the box for playingcards, drop it in the handheld basket, then move the handheld basket.",
+    "Lift the red and yellow playingcards case, drop it in the carrying basket with black plastic handle, then slightly relocate the carrying basket with black plastic handle.",
+    "Lift the hand-sized playingcards container, place it into the handheld basket, move the handheld basket.",
+    "Use one arm to place the glossy rectangular playingcards box in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Put the playingcards box with white accents in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Place the red playingcards box in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick up the red and yellow playingcards case, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick the smooth playingcards pack and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Put the compact red playingcards pack in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the compact red playingcards pack, put it inside the rectangular basket with smooth surface.",
+    "Pick up the playingcards box with white accents and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick up the rectangular playingcards case and set it inside the handheld basket.",
+    "Grab the red and yellow playingcards case, place it in the handheld basket, then move the handheld basket away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the yellow basket for carrying stuff.",
+    "Take the playingcards box with white accents, put the playingcards box with white accents into the yellow basket, shift the yellow basket.",
+    "Pick and move the smooth playingcards pack, then shift the yellow basket.",
+    "Place the playingcards box with white accents into the basket with black handle and push the basket with black handle slightly away.",
+    "Pick the small playingcards pack, place it in the handheld basket, shift the handheld basket.",
+    "Pick the smooth playingcards pack, place it in the rectangular basket with smooth surface.",
+    "Move the smooth playingcards pack to the rectangular yellow basket, then shift the rectangular yellow basket.",
+    "Grab the red playingcards box and drop it in the basket with black handle.",
+    "Set the red and yellow playingcards case in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Lift the hand-sized playingcards container using the left arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the right arm.",
+    "Grab the compact red playingcards pack, set it into the rectangular basket with smooth surface.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the rectangular yellow basket.",
+    "Pick the box for playingcards, drop the box for playingcards in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the playingcards storage box, drop it in the yellow basket, shift the yellow basket.",
+    "Take the red playingcards box, set it in the handheld basket, shift the handheld basket lightly.",
+    "Use the left arm to grab the box for playingcards, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Grab the box for playingcards, drop in the yellow basket, and move the yellow basket.",
+    "Use one arm to grab the compact red playingcards pack, place it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the red playingcards box, place it in the basket with black handle, grab the basket with black handle.",
+    "Use one arm to place the red and yellow playingcards case in the rectangular basket with smooth surface.",
+    "Grab the yellow and red playingcards box, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Lift the compact red playingcards pack, drop it in the yellow basket, then slightly relocate the yellow basket."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the small box for playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small box for playingcards, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the small box for playingcards and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow basket with open slots.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the small box for playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the playingcards with red packaging to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Place the rectangular red playingcards holder in the yellow basket with open slots and move it.",
+    "Pick up the playingcards with red packaging and drop in the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and place into the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow basket with open slots.",
+    "Pick up the small box for playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the rectangular red playingcards holder in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it into the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Grab the small box for playingcards, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow basket with open slots.",
+    "Move the rectangular red playingcards holder to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow basket with open slots and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and put it into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging and place into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the playingcards with red packaging, place it in the yellow rectangular basket with dual grips.",
+    "Move the playingcards with red packaging to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it into the yellow rectangular basket with dual grips.",
+    "Grab the playingcards with red packaging and place into the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small box for playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the yellow rectangular basket with dual grips.",
+    "Move the rectangular red playingcards holder to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Place the playingcards with red packaging in the medium-sized basket with perforated texture and move it.",
+    "Pick up the playingcards with red packaging and drop in the yellow basket with open slots.",
+    "Grab the small box for playingcards and put it into the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and place into the medium-sized basket with perforated texture.",
+    "Grab the playingcards with red packaging, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the playingcards with red packaging and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular red playingcards holder, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium-sized basket with perforated texture.",
+    "Move the small box for playingcards to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Place the playingcards with red packaging in the yellow rectangular basket with dual grips and move it.",
+    "Pick up the rectangular red playingcards holder and drop in the medium-sized basket with perforated texture.",
+    "Grab the small box for playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular red playingcards holder and place into the yellow rectangular basket with dual grips.",
+    "Grab the small box for playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular red playingcards holder and put it in the medium-sized basket with perforated texture.",
+    "Pick up the playingcards with red packaging, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file