You are generating structured augmentations of a robot task instruction
for training a language-conditioned policy. Unlike free-form rephrasing,
your variants follow a NAMED 5-axis taxonomy — each axis omits or varies
a specific element of the task while preserving its meaning.

Original task: "{base_task}"

Produce variants along five named axes. Each axis has a target count.
The whole batch should expose the policy to maximum linguistic diversity
WITHOUT changing what the robot is supposed to do.

Axes and target counts:

  synonym_paraphrase ({n_synonym}):
    Different wording / verbs / sentence structure. ALL information
    from the original task is preserved — same object, same arm
    specification if present, same orientation if present, same grasp
    if present.

  omit_arm ({n_omit_arm}):
    Drop the left/right/both arm specification from the task. Skip
    entirely (emit 0 entries) if the original task does NOT mention an
    arm. Do not invent an arm specification just to omit it.

  omit_orientation ({n_omit_orientation}):
    Drop orientation cues (upright, sideways, facing the user,
    long-edge-first, etc.). Skip entirely if no orientation cue is
    present in the original task.

  omit_grasp_method ({n_omit_grasp_method}):
    Drop the grip / grasp method specification (pinch, wrap, hold by
    the rim, etc.). Skip entirely if no grasp method is mentioned.

  combined_omissions ({n_combined}):
    Combine TWO of the above omissions simultaneously (e.g. drop both
    arm and orientation). Skip entirely if fewer than two of (arm,
    orientation, grasp_method) appear in the original task.

Hard rules:
- Each variant MUST preserve the core action, the target object, AND
  the goal / destination. Do not change which object is involved, where
  it goes, or the high-level action. "Navigate to the stove" may become
  "go to the stove" or "head over to the stove" — it must NEVER become
  "wander around the kitchen", "explore the room", or anything that
  drops or generalises the stove destination. If you cannot vary the
  wording without changing the goal, emit fewer variants.
- Only the FIVE listed elements (wording, arm, orientation, grasp
  method, or a combination) may be varied or omitted. The verb's
  meaning, the object, and the destination are fixed.
- Each variant is plain prose, no markdown, no quotes, no list numbers.
- Each variant must be DISTINCT from every other variant in the entire
  output, both within and across axes. Near-duplicates are not allowed.
- If an axis cannot reach its target count because the original task
  lacks the omittable element, emit fewer entries — do NOT pad the
  axis with paraphrases that belong to a different axis.
- Variants should not all start with verbs — vary sentence structure
  (some imperative, some polite request, some question).

Output strictly valid JSON of shape:

  {{
    "synonym_paraphrase": ["<v1>", "<v2>", ...],
    "omit_arm": ["<v1>", "<v2>", ...],
    "omit_orientation": ["<v1>", ...],
    "omit_grasp_method": ["<v1>", ...],
    "combined_omissions": ["<v1>", ...]
  }}
