The first two kata taught in judo are Nage no Kata (throwing forms) and Katame no Kata (grappling forms). Here is also a second Katame no Kata video with different escapes for the first pin kuzure kesa gatame.
These are excerpts describing Katame no Kata from Judo Formal Techniques by Tadao Otaki and Donn Draeger published by Tuttle Publishing, Boston, 2001 p. 130-131:
Uke has the role of honestly trying to esacpe from Tori's applications of grappling techniques... These escape actions are not defined as only certain correct methods. Such rigidity is not required by this kata; in this respect this kata is more "real" than the Nage no Kata.
Practicing this kata with reliance on certain prescribed escape actions by Uke, and only those actions, gives it an unnatural flavor. The kata is thereby reduced to an exercise in purely anticipated movements and subsequently has less training value than intended by the founder.
In correct practice, Tori does not necessarily know what precise methods of escape Uke will attempt. While the avenues of escape are commonly more or less expected by Tori, and there are some escape actions that are best, they are not stereotyped and prearranged as to their identity or the order in which they will be attempted by Uke.
In Nage no Kata, the movements of both partners are precisely prearranged and anticipated, including how grips should be held, the number of steps that should be taken, which foot moves first, and uke's reactions. Why is this level of prescription avoided in Katame no Kata? Or why could not Nage no Kata be similarly free-form?